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Adaptive Fuzzy SMC-Based Formation Design for Swarm of Unknown Time-Delayed Robots |
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| Authors: | Siavash Khosravi Mostafa Jahangir Hossein Afkhami |
| Institution: | 1. Young Researchers Club, Sepidan Branch, Islamic Azad University, Sepidan, Iran 2. Department of Electrical and Electronic Engineering, Islamic Azad University, Sepidan Branch, Sepidan, Iran 3. Department of Electronics, Sepidan Branch, Islamic Azad University, Sepidan, Iran |
| Abstract: | In this paper, a multi-robot formation control is designed based on Sliding Mode Control (SMC) technique. Although the structure and sensing capabilities of each robot are very simple, complex formation behaviors emerge from cooperation among them. We use an adaptive fuzzy approximator, in which unknown dynamic of robots and time delays are approximated precisely. Then it is shown that autonomous robots are able to form geometrical formations, even in the case of time-delayed dynamics, and presence of obstacles. Various simulation results and comparisons with existing works are provided that demonstrate performing efficient formation of unknown robots, with robust characteristics. |
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