Title: Derivative-integral Terminal Sliding Mode Formations of Multi-robots: Design
Publisher: LAP LAMBERT Academic Publishing
Publication Date: 2020
Language: English
ISBN 10: 6200652848
ISBN 13: 9786200652843
Binding: Soft cover
Condition: New

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Synopsis

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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