Derivative-integral Terminal Sliding Mode Formations of Multi-robots: Design
Language: English
Published by LAP LAMBERT Academic Publishing, 2020
- Softcover
- New
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- Title
- Derivative-integral Terminal Sliding Mode Formations of Multi-robots: Design
- Author
- Qian, Dianwei; Tong, Shiwen; Yang, Weijie
- Publisher
- LAP LAMBERT Academic Publishing
- Publication year
- 2020
- Condition
- New
- Binding
- Soft cover
- Language
- English
- ISBN 10
- 6200652848
- ISBN 13
- 9786200652843
In this book, the leader-follower formation mechanism of multi-robot system with nonholonomic constrained wheeled mobile robots is studied as the research object. There are matching uncertainties and non-matching uncertainties in multi-robot formation system. In this paper, the derivative and integral terminal sliding mode control method is used to deal with the matching uncertainty and trajectory tracking. The influence of unmatched uncertainty is compensated by nonlinear disturbance observer.
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Biblios
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