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<p>This study proposes a distributed leader-follower approach-based coupled sliding mode controller to perform the desired formation with external disturbance avoidance for multiple nonholonomic wheeled mobile robots (NMR). The graph theory is adopted to model the communication topology between the multi-robots to achieve the desired formation. First, we developed an estimator for each follower to estimate the leader’s state information, including the leader’s posture, angle, and velocities. Then, a suitable sliding surface is constructed for the nonlinear interconnected states among a coupled structure which can generate the smoothed signals to maintain the desired formation. Correspondingly, a control law is designed through the sliding mode control scheme for the follower robots. Moreover, this proposed controller resolves impractical velocity jumps and external disturbances to achieve higher tracking accuracy. Using the Lyapunov stability theory, we show that the tracking errors of the designed method converged to zero which ensures the robots achieved the desired formation. Finally, the simulation results demonstrate the effectiveness of the proposed strategy.</p>

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Distributed Formation Tracking Control for Multiple Wheeled Robots Using Coupled Sliding Mode and Leader-Follower Approach

  • 期刊论文

  • 发表日期：

    2025年9月9日

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  • Dinesh Elayaperumal,
  • Sachin Sakthi Kuppusami Sakthivel,
  • Young Hoon Joo,
  • Jae-Hoon Jeong

摘要

This study proposes a distributed leader-follower approach-based coupled sliding mode controller to perform the desired formation with external disturbance avoidance for multiple nonholonomic wheeled mobile robots (NMR). The graph theory is adopted to model the communication topology between the multi-robots to achieve the desired formation. First, we developed an estimator for each follower to estimate the leader’s state information, including the leader’s posture, angle, and velocities. Then, a suitable sliding surface is constructed for the nonlinear interconnected states among a coupled structure which can generate the smoothed signals to maintain the desired formation. Correspondingly, a control law is designed through the sliding mode control scheme for the follower robots. Moreover, this proposed controller resolves impractical velocity jumps and external disturbances to achieve higher tracking accuracy. Using the Lyapunov stability theory, we show that the tracking errors of the designed method converged to zero which ensures the robots achieved the desired formation. Finally, the simulation results demonstrate the effectiveness of the proposed strategy.