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- W2568854504 abstract "This paper presents a distributed formation control for multirobot dynamic systems with external disturbances and system uncertainties. First from the Lagrangian analysis, the dynamic model of a wheeled mobile robot can be derived. Then, the robust distributed formation controller is proposed based on sliding-mode control, consensus algorithm, and graph theory. In this study, the robust stability of the closed-loop system is guaranteed by the Lyapunov stability theorem. From the simulation results, the proposed approach provides better formation responses compared to consensus algorithm." @default.
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- W2568854504 date "2017-04-13" @default.
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- W2568854504 title "Distributed Sliding-Mode Formation Controller Design for Multirobot Dynamic Systems" @default.
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- W2568854504 doi "https://doi.org/10.1115/1.4035614" @default.
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