Formation Control of DWMRs: Sliding Mode Control Techniques

This chapter aims to describe leader-follower formation controllers based on SMC applied to DWMRs that are robust to the incidence of uncertainties and disturbances in solving the trajectory tracking control problem. To ensure this, the FOSMC-B discussed in Chap. 5 is used, however, this controller causes the chattering phenomenon, and to mitigate it the FOQSMC-B and AFSMC-A treated in Chaps. 6 and 7 respectively are also used. Moreover, stability analyzes of the closed-loop control system are guaranteed based on the Lyapunov theory, and simulation results in the ideal and realistic scenarios are explored to confirm the effectiveness of used leader-follower formation control strategies.