Research On Derivative And Integral Terminal Sliding Mode Formation Control Of Multiple Robots

In this paper,the leader-follower formation mechanism of multi-robot system with non-holonomic 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.Firstly,the kinematics model of the single robot is analyzed in this paper.the kinematics relationship between the position and velocity of the single robot is established by establishing the global coordinate system.Considering that the robot is in a complex and changeable environment in reality and will be affected by system friction,noise and external interference so on,a single robot dynamics model containing uncertainty is established.According to the dynamics model of single robot,the dynamics model of leader-follower formation system is established.This paper also analyzes the unmatched uncertainty of the system.Secondly,considering the uncertainty,this paper adopts a method for derivative and integral terminal sliding mode control.The derivative and integral terminal sliding mode control method has high convergence speed and stability accuracy.Aiming at the unmatched uncertainty of the formation system,the nonlinear disturbance observer is used to compensate for its influence,and the Lyapunov function is used to analyze the stability of the formation system.Finally,the feasibility and accessibility of the robot-based sliding mode control method for differential and integral terminals are verified by simulation experiments.Finally,summarize the article and look forward to the future.