Robust formation control of electrically driven nonholonomic mobile robots via sliding mode technique

Bong Seok Park, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)


This paper proposes a sliding mode formation control method for electrically driven nonholonomic mobile robots in the presence of model uncertainties and disturbances. We use the kinematic model based on the leader-following approach for the formation control of multiple robots. Unlike many researches considering only the kinematic model, we also consider the dynamic model including actuator dynamics to obtain the voltage input because it is more realistic to use the voltage as input than the velocity. Then, the sliding mode control method is used to deal with model uncertainties and disturbances acting on the mobile robots. The stability of the proposed control system is proven using Lyapunov stability theory. Finally, we perform computer simulations to demonstrate the performance of the proposed control system.

Original languageEnglish
Pages (from-to)888-894
Number of pages7
JournalInternational Journal of Control, Automation and Systems
Issue number5
Publication statusPublished - 2011 Oct

Bibliographical note

Funding Information:
__________ Manuscript received March 18, 2010; revised March 18, 2011; accepted May 3, 2011. Recommended by Editorial Board member Kyongsu Yi under the direction of Editor Jae-Bok Song. This work was supported in part by the Brain Korea 21 in 2011 and by the Human Resources Development Program of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant funded by the Korea Government Ministry of Knowledge Economy. (No. 20104010100590).

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications


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