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Robust adaptive time-varying region tracking control of multi-robot systems

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Conclusion

In this study, we have proposed a new adaptive sliding mode control-based time-varying region tracking controller for multi-robot systems with both uncertain dynamics and unknown input disturbances. A new region tracking potential function is introduced to obtain reduced control input magnitude. Future work includes considering collision avoidance with respect to obstacles in the environment and other control methods handling input saturation.

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Acknowledgements

This work was supported by National Natural Science Foundation of China (Grant No. 61703094).

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Authors and Affiliations

  1. Jiangsu Key Laboratory of Networked Collective Intelligence, School of Mathematics, Southeast University, Nanjing, 211189, China

    Junjie Fu, Yuezu Lv & Wenwu Yu

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  1. Junjie Fu
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  2. Yuezu Lv
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  3. Wenwu Yu
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Corresponding author

Correspondence to Junjie Fu.

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Appendixes A–C. The supporting information is available online at info.scichina.com and link.springer.com. The supporting materials are published as submitted, without typesetting or editing. The responsibility for scientific accuracy and content remains entirely with the authors.

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Fu, J., Lv, Y. & Yu, W. Robust adaptive time-varying region tracking control of multi-robot systems. Sci. China Inf. Sci. 66, 159202 (2023). https://doi.org/10.1007/s11432-020-3299-2

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  • DOI: https://doi.org/10.1007/s11432-020-3299-2

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