中文摘要：

提出了一个非线性滑模控制器，协调一组非完整移动机器人以取得合乎要求的编队．考虑了两个机器人组成的领航者一跟随者机器人模型，通过滑模控制使它们沿预定的轨迹运动并保持预定的相对距离、方位角及运动方向．运用传统的李亚普诺夫理论研究了闭环系统的稳定性．在合理的假设下，从理论上证明了存在有界干扰情形下机器人编队的渐近稳定性，即所设计的滑模控制器使得相对距离误差、方位角误差及运动方向误差渐近稳定．最后，给出了两台机器人情形的数值仿真例子来验证该方法的有效性．

英文摘要：

A nonlinear sliding mode controller is proposed to coordinate a group of nonholonomic mobile robots so that a desired formation can be achieved. By using sliding mode control approaches, we consider a two-vehicle team in leaderfollower configuration that is required to follow a prescribed trajectory while maintaining a desired relative distance, relative bearing angle and heading orientation. Stability of the closed-loop system are studied using classical Lyapunov theory. We prove theoretically that under certain reasonable assumptions the formation is asymptotically stable even with bounded disturbances; that is, the proposed sliding mode controller can asymptotically stabilize the errors in relative distance, relative bearing and heading direction, respectively. Finally, a numerical simulation example is given for the two-robot case to verify the validity of our approach.