Higher Order Sliding Modes in Collaborative Robotics

摘要: In this chapter, a scheme for real time motion planning and robust control of swarm nonholonomic mobile robots evolving in an uncertain environment is derived. This consists two main parts: (i) collision-free planner; (ii) trajectory tracking controller. implementation, the planner dynamically generates optimal while robot runs. High precision achieved by design higher order sliding mode controller based on geometric homogeneity properties. Experimental investigations have been conducted using several test benchmarks to demonstrate effectiveness proposed strategy.