TY - GEN
T1 - Robust Formation of Mobile Robots with Synchronization Using Fractional Order Sliding Modes
AU - Perez, Jose Ignacio Aguilar
AU - Castro-Linares, Rafael
AU - Duarte-Mermoud, Manuel A.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/11
Y1 - 2020/11/11
N2 - A fractional order sliding mode controller is presented for the formation with synchronization of a group of (2,0) differential mobile robots in the presence of uncertainties. Based on previous fractional order schemes, a sliding mode controller is proposed so that a group of mobile robots can follow a given trajectory while keeping the formation with synchronization. A sufficient condition is given to assure the existence of the sliding mode. Also, experimental results are given.
AB - A fractional order sliding mode controller is presented for the formation with synchronization of a group of (2,0) differential mobile robots in the presence of uncertainties. Based on previous fractional order schemes, a sliding mode controller is proposed so that a group of mobile robots can follow a given trajectory while keeping the formation with synchronization. A sufficient condition is given to assure the existence of the sliding mode. Also, experimental results are given.
KW - (2,0) mobile robot
KW - formation
KW - fractional calculus
KW - sliding mode
KW - synchronization
UR - https://www.scopus.com/pages/publications/85099463463
U2 - 10.1109/CCE50788.2020.9299149
DO - 10.1109/CCE50788.2020.9299149
M3 - Conference contribution
AN - SCOPUS:85099463463
T3 - 2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020
BT - 2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2020
Y2 - 11 November 2020 through 13 November 2020
ER -