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Lyapunov and Sliding Mode Based Leader-follower Formation Control for Multiple Mobile Robots with an Augmented Distance-angle Strategy

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Abstract

In this paper, a new two-layer control strategy which combines Kinematic Controller based on Lyapunov Theory (KCLT) with Dynamic Controller based on Sliding Mode (DCSM) is proposed to solve the problem of leader-follower formation control for multiple wheeled mobile robots (M-WMR). An augmented distance-angle leader-follower formation kinematic is constructed to describe the formation states, and a 2D LiDAR sensor is utilized to measure the states instead of using camera and image processing on each follower. Instead of transferring the measured formation states into reference position command for each follower, KCLT is designed to generate follower’s velocity command. By taking the velocity command of followers as reference signals, DCSM is implemented to realize formation control. Lyapunov stability theory verifies that with the designed controller all the error signals can converge to 0 theoretically, which implies formation control of M-WMR under the proposed method can be realized. Real experiments with one leader and two followers are carried out to demonstrate the effectiveness of the proposed control schema. In order to verify the robustness of the proposed method, the reference rotational velocity of the leader robot is designed to change between +0:2 rad/s and -0:2 rad/s at some specified position. And the experimental results are compared with that of traditional proportional-integral-derivative (PID) method.

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Correspondence to Jangmyung Lee.

Additional information

Recommended by Editor Fumitoshi Matsuno. This research was funded and conducted under the Cooperative Development on Medical Robot System between DAKEWE and PNU (CDMRSDP), operated by DAKEWE-PNU Research Institute of Medical Robot (DPRIMR). (No. 201738260001, cooperative development on medical robot system).

Yudong Zhao received his B.S. and M.S. degrees in Mechanical Design, Manufacturing and Automation and Electronics Engineering from Henan Polytechnic University and Pusan National University, China and Korea, in 2014 and 2016, respectively. Now he is pursing a doctoral degree in Pusan National University, Korea, and his research interest includes computer vision, adaptive control theory, terminal sliding mode control, and collaboration robotics.

Yueyuan Zhang received her B.S. degree in Communication Engineering from Yanbian University, China in 2013. Now she is pursing a master degree in Pusan National University, Korea, and her research interests include robot control, visual servoing and haptic technology.

Jangmyung Lee received his B.S. and M.S. degrees in Electronics Engineering from Seoul National University, Seoul, Korea, in 1980 and 1982, respectively, and his Ph.D. in Computer Engineering from the University of Southern California (USC), Los Angeles, in 1990. Since 1992, he has been a professor with the Intelligent Robot Laboratory, Pusan National University, Busan, Korea. His current research interests include intelligent robotic systems, ubiquitous ports, and intelligent sensor. Prof. Lee is a past president of the Korean Robotics Society, and a Vice president of ICROS. He is also the head of National Robotics Research Center, SPENALO.

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Zhao, Y., Zhang, Y. & Lee, J. Lyapunov and Sliding Mode Based Leader-follower Formation Control for Multiple Mobile Robots with an Augmented Distance-angle Strategy. Int. J. Control Autom. Syst. 17, 1314–1321 (2019). https://doi.org/10.1007/s12555-018-0194-7

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