@Article{, title={Formation Control of Mobile Robots Using Sliding Mode Control Based on Conditional Servocompensator}, author={Laith Khames Majeed}, journal={Engineering and Technology Journal مجلة الهندسة والتكنولوجيا}, volume={36}, number={12 Part (A) Engineering}, pages={1302-1310}, year={2018}, abstract={In this paper, the problem of controlling a group of mobile robots isconsidered; each one operates with the nonlinear nonholonomic under actuateddynamics. A coordinated control scheme is designed based on leader-follower(s)method to achieve prescribed formation maneuvers. This objective is fulfilledusing the approach of sliding mode controller based on conditionalservocompensator, which will bring the system error trajectories into a positivelyinvariant set (boundary layer) close to the origin. Then, a special form ofservocompensator conditional integrator, which will be active only inside theboundary layer, will regulate the trajectories to the origin in finite time.Compared to the traditional integral which will deteriorate the performance ofthe feedback system, the conditional version will have a very insignificant effecton the performance. The simulation results show that the designed controller isable to achieve the objective efficiently with very reasonable control actions.

} }