| This thesis studies the trajectory tracking and cooperative behavior for a team of mobile robots using nonlinear and intelligent algorithms to more efficiently achieve the mission outcome.;In order to coordinate a group of mobile robots, the goal is to create efficient system architecture and a control algorithm that enables them to work both individually and in meaningful robot formations. This is achieved by employing coordination techniques with the knowledge derived by the localization of the robots from their environment.;The experimental results obtained using three mobile robots display the performance of these control algorithms in producing a cooperative behavior for the robot group.;Key words: Coordination, Exponential sliding mode, Intelligent Control, Nonlinear Control, Trajectory tracking;In order to create effective control algorithm for trajectory tracking, we present three different techniques including Lyapunov technique, intelligent control (fuzzy control) and the exponential sliding mode. The developed algorithms instruct a robot to keep moving on their desired trajectory while simultaneously reducing tracking errors. |
