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Mixed Fuzzy Sliding-Mode Tracking with Backstepping Formation Control for Multi-Nonholonomic Mobile Robots Subject to Uncertainties

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Abstract

This paper aims at attaining one-leader & two-followers (1L-2F) formation control of multi-nonholonomic mobile robot (multi-NMR) systems subject to uncertainties and, at the same time, achieves trajectory-tracking of the leader NMR. To begin, the tracking error between the leader and a virtual reference robot is defined. Then, the extension to a leader-follower formation control structure is utilized to define the formation error (i.e., separation and orientation errors) between the leader and the followers. It has been proven that fuzzy sliding-mode tracking control (FSMTC) and backstepping formation control (BFC) can improve performance and stability when the overall closed-loop system is subject to uncertainties. Therefore, FSMTC and BFC are used for trajectory tracking of the leader NMR and formation control for two followers with respect to the leader, respectively. The stability of the closed-loop multi-NMR systems, i.e., trajectory tracking and formation control, is demonstrated through Lyapunov stability criteria. Finally, to validate the theoretical developments, computer simulations are conducted which prove the effectiveness, efficiency and robustness of the proposed scheme.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Texas A&M University at Qatar, Doha, Qatar

    Hsiu-Ming Wu & Mansour Karkoub

  2. Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan, Republic of China

    Chih-Lyang Hwang

Authors
  1. Hsiu-Ming Wu
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  2. Mansour Karkoub
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  3. Chih-Lyang Hwang
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Correspondence to Hsiu-Ming Wu.

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Wu, HM., Karkoub, M. & Hwang, CL. Mixed Fuzzy Sliding-Mode Tracking with Backstepping Formation Control for Multi-Nonholonomic Mobile Robots Subject to Uncertainties. J Intell Robot Syst 79, 73–86 (2015). https://doi.org/10.1007/s10846-014-0131-9

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  • DOI: https://doi.org/10.1007/s10846-014-0131-9

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