A nonlinear sliding mode controller is proposed to coordinate a group of nonholonomic mobile robots so that a desired formation can be achieved. 摘要提出了一個(gè)非線(xiàn)性滑?？刂破?，協(xié)調一組非完整移動(dòng)機器人以取得合乎要求的編隊。
After state preestimate and state movement analysis, a discrete sliding mode controller which can essentially avoid the chattering phenomenon is designed. 通過(guò)系統狀態(tài)預估及對狀態(tài)運動(dòng)的分析，設計了可以完全消除系統抖振的滑?？刂破?。
