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What is Adaptive Control for Mobile Robot Formation about?

This paper presents an adaptive immune fuzzy quasi-sliding mode control (AIFQSMC) for leader-follower formation of wheeled mobile robots, addressing trajectory tracking and obstacle avoidance under uncertainties. The proposed controller combines sliding mode control with an artificial immune system to enhance adaptability and mitigate chattering, while ensuring robust performance in dynamic environments. Simulation and experimental results demonstrate the effectiveness of the controller in maintaining forma

Author

pamanh97

Language

EN