Tracking and Obstacle Avoidance Control of a Second-Order System with SMC

Abstract

This paper studies the tracking and obstacle avoidance control of a second-order multi-robot system. First, a Leader-Follower dynamic model is formulated and robots are divided into a leader and some followers according to the Lead-Follower method. Second, a sliding mode controller (SMC) is designed in the obstacles-free environment to track a predetermined trajectory. Third, a controller for obstacle avoidance is designed, which is combined together with the former SMC to formulate a global formation maintaining and obstacle avoidance control algorithm. Last, some simulation examples for tracking of a predetermined trajectory with or without obstacles are given. Simulation results demonstrate that the tracking and shape-maintaining algorithm turn out to be effective.