Integral Sliding Mode Formation Control of Uncertain Mobile Robots

This book focuses on the mathematical and computational aspects of integral sliding mode control and multiple robots with uncertainties. The contents are usable in a wide variety of scientific and engineering disciplines. These contents are organized into six chapters. Chapter 1 starts with a brief historical overview of the formation problems of multiple robots. Chapter 2 presents the mathematical model of the leader-follower-based formation problem for multiple robot systems in the presence of uncertainties. Chapter 3 introduces the methodology of sliding mode. Chapter 4 presents the integral sliding mode control for the formation problem. Chapter 5 extends the compensator design of uncertainties for multiple robots. Chapter 6 summarizes some of the further extensions not captured within this book. The book can be used for teaching a graduate-level special-topics course in sliding mode control and robotics.

Dianwei Qian is currently an Associate Professor in the North China Electric Power University, Beijing, China. He received a B.E. degree from the Hohai University, Nanjing, in 2003, a Master degree from the Northeastern University, Shenyang, China, in 2005 and a PhD degree from Institute of Automation, Chinese Academy of Sciences, Beijing, in 2008.