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Formation control of nonholonomic wheeled mobile robots via fuzzy fractional-order integral sliding mode control

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Abstract

This paper presents a robust formation control scheme for a team of nonholonomic wheeled mobile robots. First, the formation kinematic controller is introduced according to the leader-following strategy, then by employing the dynamic model of the robots, a combination of fractional calculus theories and integral sliding mode control is adopted to provide a robust dynamic control laws for every follower robots to track the leader and accomplish the required formation pattern even in the presence of external disturbances and model uncertainties. Furthermore, the chattering phenomenon is mitigated using a fuzzy logic control. Then, by using the Lyapunov theory, the proposed control scheme’s convergence and stability are demonstrated. Finally, a comparative study is conducted to evaluate the performance of the suggested control strategy.

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Funding

No funding was received for conducting this study.

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Author notes

  1. Benselama Zoubir Abdeslem and Hedjar Ramdane have contributed equally to this work.

Authors and Affiliations

  1. Department of Electronics, Laboratory of Signal and Image Processing, Saad Dahlab University, Soumaa Road, P. Box 270, 09000, Blida, Algeria

    Allaeddine Yahia Damani & Zoubir Abdeslem Benselama

  2. Department of Computer Engineering, Center of Smart Robotics Research CEN, King Saud University, Zip 4545, P. Box 145111, 11362, Riyadh, Saudi Arabia

    Ramdane Hedjar

Authors
  1. Allaeddine Yahia Damani
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  2. Zoubir Abdeslem Benselama
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  3. Ramdane Hedjar
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Contributions

All the authors contributed to this work in terms of programming (Damani), mathematical formulation (Damani,Benselama and Hedjar) and manuscript drafting and editing (Damani,Benselama and Hedjar).

Corresponding author

Correspondence to Allaeddine Yahia Damani.

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Damani, A.Y., Benselama, Z.A. & Hedjar, R. Formation control of nonholonomic wheeled mobile robots via fuzzy fractional-order integral sliding mode control. Int. J. Dynam. Control 11, 2273–2284 (2023). https://doi.org/10.1007/s40435-022-01109-x

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  • DOI: https://doi.org/10.1007/s40435-022-01109-x

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