Adaptive Fuzzy SMC-Based Formation Design for Swarm of Unknown Time-Delayed Robots
Adaptive Fuzzy SMC-Based Formation Design for Swarm of Unknown Time-Delayed Robots
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DOI：
10.1007/s11071-012-0389-z
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发表时间：
2012-06
影响因子：
5.6
通讯作者：
Siavash Khosravi;M. Jahangir;H. Afkhami
中科院分区：
文献类型：
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作者：
Siavash Khosravi;M. Jahangir;H. Afkhami
基于滑模控制技术设计了一种多机器人编队控制器。虽然每个机器人的结构和感知能力非常简单，但它们之间的合作会产生复杂的编队行为。我们使用一个自适应模糊逼近器，其中未知的动态机器人和时间延迟近似精确。然后，它表明，自主机器人是能够形成几何编队，即使在时间延迟的动态的情况下，和存在的障碍。各种仿真结果和与现有作品的比较表明，执行有效的形成未知的机器人，具有强大的特性。
In this paper, a multi-robot formation control is designed based on Sliding Mode Control (SMC) technique. Although the structure and sensing capabilities of each robot are very simple, complex formation behaviors emerge from cooperation among them. We use an adaptive fuzzy approximator, in which unknown dynamic of robots and time delays are approximated precisely. Then it is shown that autonomous robots are able to form geometrical formations, even in the case of time-delayed dynamics, and presence of obstacles. Various simulation results and comparisons with existing works are provided that demonstrate performing efficient formation of unknown robots, with robust characteristics.