Formation control for uncertain multiple robots by adaptive integral sliding mode

This paper addresses a control scheme for formation maneuvers of a group of robots. The control scheme integrates an integral sliding mode (ISM) controller and a fuzzy compensator. The formation mechanism is leader-follower. The robots suffers from uncertainties. Chained to the uncertainties, the formation dynamics become uncertain. The control scheme needs to resist the formation uncertainties, meanwhile, the robots has to be formed up. Concerning the formation uncertainties, they are assumed to be unknown but bounded. Since they challenge the formation control, the fuzzy compensator is utilized to approximate them where an ISM-based adaptive law is deduced from the stability analysis. In the sense of Lyapunov, not only the convergence of the approximation error can be guaranteed, but also such a control scheme can asymptotically stabilize the formation system. Compared to the results by the sole ISM control, some numerical simulations are presented to demonstrate the feasibility and performance of the control scheme.