SWARM
Adaptive fuzzy sliding-mode formation control for second-order multi-agent systems
Chia-Wen Chang, Chunlin Chen, Yeong‐Hwa Chang, Chin‐Wang Tao
- Year
- 2010
- Citations
- 7
Abstract
In this paper, an adaptive fuzzy sliding-mode formation controller (AFSFC) is designed to accomplish the formation tracking control of multi-robot systems. The multi-agent system with the proposed AFSFC can reach the desired formation asymptotically. Based on an adaptive tuning scheme, the external disturbances are dealt with and the analysis of the control stability is given. The simulation results are included to indicate the effectiveness of the provided controller.
Keywords
Control theory (sociology)Controller (irrigation)Sliding mode controlFuzzy control systemAdaptive controlFuzzy logicScheme (mathematics)Computer scienceMode (computer interface)Stability (learning theory)
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