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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Fuzzy sliding-mode formation control for multirobot systems: design and implementation.

Yeong-Hwa Chang¹, Chia-Wen Chang, Chun-Lin Chen

¹Department of Electrical Engineering, Chang Gung University, Kwei-Shan Tao-Yuan 333, Taiwan. yhchang@mail.cgu.edu.tw

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society

|October 20, 2011

Summary

This summary is machine-generated.

This study introduces a fuzzy sliding-mode formation controller (FSMFC) for multirobot systems, ensuring stable formations despite disturbances. Experimental results validate its superior performance in decentralized robot formation control.

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Area of Science:

Robotics
Control Systems
Artificial Intelligence

Background:

Decentralized formation control for multirobot systems presents challenges due to external disturbances and system uncertainties.
Achieving robust consensus and stable formations in dynamic agent networks requires advanced control strategies.

Purpose of the Study:

To propose a novel fuzzy sliding-mode formation controller (FSMFC) for decentralized multirobot formation control.
To ensure system robustness and guarantee the stability of the multirobot formation pattern.

Main Methods:

A novel formation algorithm integrating graph theory and fuzzy sliding-model control is presented.
Formation stability conditions are derived based on communication topology.
Lyapunov stability theorem is employed to guarantee system stability and formation achievement.

Main Results:

The proposed FSMFC effectively achieves desired formation patterns in multirobot systems.
Simulation results demonstrate the control scheme's effectiveness.
Real-time experiments with the e-puck multirobot system validate the promising performance.

Conclusions:

The developed FSMFC offers a robust and effective solution for decentralized multirobot formation control.
The integration of fuzzy logic and sliding-mode control enhances system stability and formation accuracy.
Empirical evidence supports the superiority of this approach over existing formation algorithms.