Derivative-integral Terminal Sliding Mode Formations of Multi-robots - Qian, Dianwei;Tong, Shiwen;Yang, Weijie
27,99 €
inkl. MwSt.
Versandkostenfrei*
Versandfertig in 6-10 Tagen
payback
14 °P sammeln
  • Broschiertes Buch

In this book, the leader-follower formation mechanism of multi-robot system with nonholonomic constrained wheeled mobile robots is studied as the research object. There are matching uncertainties and non-matching uncertainties in multi-robot formation system. In this paper, the derivative and integral terminal sliding mode control method is used to deal with the matching uncertainty and trajectory tracking. The influence of unmatched uncertainty is compensated by nonlinear disturbance observer.

Andere Kunden interessierten sich auch für
Produktbeschreibung
In this book, the leader-follower formation mechanism of multi-robot system with nonholonomic constrained wheeled mobile robots is studied as the research object. There are matching uncertainties and non-matching uncertainties in multi-robot formation system. In this paper, the derivative and integral terminal sliding mode control method is used to deal with the matching uncertainty and trajectory tracking. The influence of unmatched uncertainty is compensated by nonlinear disturbance observer.
Autorenporträt
Dianwei Qian is currently an Associate Professor in the North China Electric Power University, Beijing. He received a Bachelor degree from the Hohai University, Nanjing, in 2003 and a Master degree from the Northeastern University, Shenyang, in 2005 and a PHD degree from the Institute of Automation, Chinese Academy of Sciences, Beijing, in 2008.