Integral Terminal Sliding-Mode Formation Control for Uncertain Heterogeneous Networked Mecanum-Wheeled Omnidirectional Robots

In this paper, an integral terminal sliding-mode (ITSM) consensus control method is presented for a team of uncertain, networked, heterogeneous Mecanum-wheeled omnidirectional robots (MWORs) moving together in formation. After the description of the dynamic model of each kind of MWOR by a set of unified multivariable vector state equations, the interconnection structure of the multi-robots is modeled by a directed and strongly connected graph. An ITSM formation control is proposed to achieve finite-time formation control and trajectory tracking in presence of robot uncertainties. The usefulness and superiority of the proposed method are well exemplified by conducting three computer simulations on cooperative formation of four heterogeneous MWORs with a virtual leader.