Sliding Mode Formation Control of Nonholonomic Robots

@article{Gao2010SlidingMF,
  title={Sliding Mode Formation Control of Nonholonomic Robots},
  author={Xiang Gao and Qiuju Huang and Ming Wan and Chunxiang Liu},
  journal={2010 International Conference on Artificial Intelligence and Computational Intelligence},
  year={2010},
  volume={1},
  pages={67-71}
}
This paper discusses a method of nonholonomic robot formation control based on leader-follower. The leader moves along a designated trajectory, the follower keeps a specified distance and angle when following the leader so as to keep a certain formation. Sliding-mode control strategy is introduced in, the sliding mode surface functions are designed to make robots asymptotically stabilize to a time-varying expected formation. Thus a more stable robot formation is made.