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Formation Maneuvers via Adaptive Super Twisting Approach

Oscar Salas, Jesus De Leon-Morales, Ruben Hernandez
In this paper, a synchronization and formation control
for groups of mobile robots of unicycle structure under
the behavior-based approach is presented. According
to this approach, complex maneuvers are decomposed
into a sequence of maneuvers between formation patterns.
With the aim of driving the movements of the
robots, a decentralized control strategy based on feedback
linearization and Adaptive Super Twisting Algorithm
(ASTA) are introduced. The proposed control
scheme increases robustness against unknown dynamics
without overestimating the gain. Simulation results
illustrate the effectiveness of the proposed control.
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