Research On Consensus Of Multiple Robots System Via Sliding Mode Methods

This paper focuses on multiple agents by a group of nonholonomic wheeled robots.The formation control is based on the leader-following approaches.A communication graph theory model for the multiple robots is established.Subsequently,by adopting the sliding mode control method,the problem of multiple robots system coordinated formation control is studied.Aiming at the problem of uncertainty in the ecological environment,the corresponding solutions are proposed.The core work of this paper is mainly focused on the following aspects.First of all,The kinematic model of single agent is constructed by considering the variation of load in the actual environment,the perturbation of parameters,the noise,the friction and the change of the external environment.Designing the communication relationship between the multiple agents according to the leader-following approaches,and the graph theory is used to express it.Secondly,according to the single agent model,a first order sliding mode control method is proposed,and the design process of the controller is described.Taking the formation system composed of four agents as an example,the first order sliding mode control method is verified by the simulation.Based on the expectations formation,it is concluded that the control effect of the first order sliding mode control method for the mismatched uncertainties should be improved.Thirdly,in the real environment,the effect of mismatched uncertainties on the formation system is particularly significant.Therefore,this paper introduces a disturbance observer based on the first order sliding mode control method to overcome the influence of the mismatched uncertainties and analyzing the stability by using the Lyapunov criterion.This method is extended to multiple agents system,and the stability of the system is analyzed.The validity of the above method is verified by simulation.Fourthly,under the mentioned conditions,the integral sliding mode control based on disturbance observer is proposed,which ensures the stability of the switching gain and reduces the chattering phenomenon.Finally,summarize the results of the study,and look forward to the future research direction.