Formation Control of Multiple Mobile Robots Based on Fuzzy Adaptive Sliding Mode Control

In order to solve the problems of slow convergence and chattering in formation control of multiple mobile robots, and to optimize the dynamic characteristics of formation system, a hybrid adaptive controller is proposed by analyzing the characteristics of different sliding mode reaching laws, which can accelerate the convergence speed and effectively suppress the chattering of the system. Firstly, the saturation function is introduced into the double power reaching law to form the saturation double power reaching law; Secondly, the hyperbolic tangent reaching law is used to improve the stability of the system when it approaches the sliding surface; Finally, fuzzy logic rules are used to adjust the coefficients of saturated double-power reaching law to optimize the overall dynamic parameters. Simulation results show that the designed controller can improve the convergence speed of the system, effectively suppress the chattering, and realize the fast and stable following of the follower robot to the pilot robot, which verifies the correctness and availability of the proposed controller.