| Abstract:Sliding Mode Variable Structure Control (SMC) has good effects on solving typical nonlinear multi-robot control systems due to its fast response speed, strong adaptability, and simple engineering implementation. Based on this, this article introduces the development, principle and application of SMC in the field of multi-robot cooperative formation. But at the same time, the SMC itself has defects such as chattering, which limits its application. In order to further improve the control quality of SMC, to obtain faster response, stronger robustness to disturbances and better steady-state performance, this article has in-depth research on advanced intelligence such as neural networks, fuzzy logic, robust adaptive, etc. The control method is combined with SMC, and these new formation control strategies are compared and analyzed. Finally, the future research directions in this field are prospected. |
