A finite-time approach to formation control of multiple mobile robots with terminal sliding mode

Dongya Zhao and Tao Zou

International Journal of Systems Science, 2012, vol. 43, issue 11, 1998-2014

Abstract: In this study, a new finite-time synchronised approach is developed for multiple mobile robots formation control based on terminal sliding mode control principle and system synchronisation theory. Associated stability analysis is presented to lay a foundation for analytical understanding in generic theoretical aspects and safe operation for real systems. An illustrative example of multiple mobile robots formation control is bench tested to validate the effectiveness of the proposed approach.

Date: 2012
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DOI: 10.1080/00207721.2011.564323

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