Supervisory control of a class of discrete event processes
SIAM Journal on Control and Optimization
Multitasking Supervisory Control of Discrete-Event Systems
Discrete Event Dynamic Systems
Trajectory planning and sliding-mode control based trajectory-tracking for cybercars
Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics
Wheeled Mobile Robots Control in a Linear Platoon
Journal of Intelligent and Robotic Systems
Sliding Mode Control for Trajectory Tracking Problem - Performance Evaluation
ICANN '09 Proceedings of the 19th International Conference on Artificial Neural Networks: Part II
Dynamic Assignment in Distributed Motion Planning With Local Coordination
IEEE Transactions on Robotics
Brief Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems
Automatica (Journal of IFAC)
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In this paper a hybrid control structure to control a multi-robot formation is proposed. The hybrid control structure consists of two control levels: the discrete control level and the continuous control level. The discrete control level ensures the supervisory control and the continuous control level ensures the trajectory tracking control. The trajectory tracking problem is solved using the sliding mode control. The syntheses of the supervisor and of the sliding mode controllers for each discrete state are presented. Simulation example is used to evaluate the sliding-mode algorithm and to show the application of the algorithm in practice. The controller is simply structured and easy to implement.