Fuzzy Swarm Control Based on Sliding-Mode Strategy With Self-Organized Omnidirectional Mobile Robots System
针对全向移动机器人群体控制中滑模策略引起的抖振问题，引入模糊逻辑替代切换控制，设计了模糊滑模群体控制方法，仿真和实验证明该方法能削弱抖振并实现渐近稳定。
This article proposes the fuzzy swarm control based on sliding-mode strategy with self-organized omnidirectional mobile robots (OMRs) system. In previous work, swarm control is realized by using sliding-mode strategy. However, chattering in the OMRs system is very serious. To overcome this drawback, a new fuzzy swarm control for OMRs system is designed, which introduces the fuzzy logic to replace switching control in traditional sliding-mode control (SMC). The fuzzy SMC (FSMC) can weaken chattering for sliding-mode strategy in the OMRs system. However, it is difficult to design swarm control law for OMRs because of model uncertainties, external disturbance and the introduction of fuzzy logic. The FSMC is proposed in this article and its stability is analyzed. Simulation and experiment results show that the fuzzy swarm control based on sliding-mode strategy with self-organized OMRs system can realize stability asymptotically and chattering is weakened.