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Adaptive Fuzzy Sliding Mode Control Approach for Swarm Formation Control of Multi-Agent Systems

[+] Author Affiliations
Bijan Ranjbar Sahraei

Shiraz University, Shiraz, Iran

Alireza Nemati, Mehdi Farshchi, Ali Meghdari

Sharif University of Technology, Tehran, Iran

Paper No. ESDA2010-25371, pp. 485-490; 6 pages
doi:10.1115/ESDA2010-25371
From:
  • ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
  • ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 5
  • Istanbul, Turkey, July 12–14, 2010
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4919-4 | eISBN: 978-0-7918-3877-8
  • Copyright © 2010 by ASME

abstract

In this paper, an adaptive control scheme for multi-agent formation control is proposed. This control method is based on artificial potential functions integrated with adaptive fuzzy sliding mode control technique. We consider fully actuated mobile agents with completely unknown dynamics. An adaptive fuzzy logic system is used to approximate the unknown system dynamics. Sliding Mode Control (SMC) theory is used to force agents’ motion to obey the dynamics defined by the simple inter-agent artificial potential functions. Stability proof is given using Lyapunov functions, which shows the robustness of controller with respect to disturbances and system uncertainties. Simulation results are demonstrated for a multi-agent formation problem, illustrating the effectiveness of the proposed method. Experimental results are included to verify the applicability of the scheme for a test-bed of six real mobile robots.

Copyright © 2010 by ASME

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