{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,24]],"date-time":"2025-12-24T14:55:34Z","timestamp":1766588134306},"reference-count":28,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2016,5,12]],"date-time":"2016-05-12T00:00:00Z","timestamp":1463011200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2017,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Multi-robot formation control has become an important area of research due to its advantages and applications. This paper presents multi-robot formation control using a leader\u2013follower approach without considering the leader's velocity information or estimation. The leader\u2013follower formation is formulated by incorporating the model uncertainties and disturbances. A novel formation controller is presented using integral terminal sliding mode (ITSM) control, which drives the formation tracking error convergence to zero in finite-time. The stability of the close-loop control scheme is verified by using Lyapunov theory. Furthermore, obstacle detection and avoidance are incorporated to avoid collision while maintaining the formation. The effectiveness of the proposed controller is verified and validated using sine and lamniscate curve trajectories. Moreover, the performance of the proposed ITSM formation controller is compared with the standard linear sliding mode (LSM) control.<\/jats:p>","DOI":"10.1017\/s0263574716000230","type":"journal-article","created":{"date-parts":[[2016,5,12]],"date-time":"2016-05-12T05:24:17Z","timestamp":1463030657000},"page":"1473-1487","source":"Crossref","is-referenced-by-count":22,"title":["Integral terminal sliding mode formation control of non-holonomic robots using leader follower approach"],"prefix":"10.1017","volume":"35","author":[{"given":"Muhammad","family":"Asif","sequence":"first","affiliation":[]},{"given":"Muhammad Junaid","family":"Khan","sequence":"additional","affiliation":[]},{"given":"Attaullah Y.","family":"Memon","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2016,5,12]]},"reference":[{"key":"S0263574716000230_ref15","doi-asserted-by":"crossref","unstructured":"J. Ghommam , H. Mehrjerdi and M. Saad , \u201cLeader-follower Formation Control of Nonholonomic Robots with Fuzzy Logic Based Approach for Obstacle Avoidance,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, 2011, pp. 2340\u20132345.","DOI":"10.1109\/IROS.2011.6048059"},{"key":"S0263574716000230_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2011.08.055"},{"key":"S0263574716000230_ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907084441"},{"key":"S0263574716000230_ref5","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2009.0074"},{"key":"S0263574716000230_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2013.12.010"},{"key":"S0263574716000230_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2009.2034639"},{"key":"S0263574716000230_ref27","doi-asserted-by":"crossref","unstructured":"S. T. Venkataraman and S. Gulati , \u201cControl of Nonlinear Systems using Terminal Sliding Modes,\u201d American Control Conference, 1992, Chicago, IL, USA, 1992, pp. 891\u2013893.","DOI":"10.23919\/ACC.1992.4792209"},{"key":"S0263574716000230_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2054101"},{"key":"S0263574716000230_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/70.976023"},{"key":"S0263574716000230_ref10","doi-asserted-by":"crossref","unstructured":"T. Dierks and S. Jagannathan , \u201cControl of Nonholonomic Mobile Robot Formations: Backstepping Kinematics into Dynamics,\u201d Proceedings of the IEEE International Conference on Control Applications, CCA 2007, Singapore, 2007, pp. 94\u201399.","DOI":"10.1109\/CCA.2007.4389212"},{"key":"S0263574716000230_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.803458"},{"key":"S0263574716000230_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.07.027"},{"key":"S0263574716000230_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2012.11.018"},{"key":"S0263574716000230_ref21","doi-asserted-by":"crossref","unstructured":"H. A. Poonawala , A. C. Satici and M. W. Spong , \u201cLeader-Follower Formation Control of Nonholonomic Wheeled Mobile Robots using Only Position Measurements,\u201d Proceedings of the 9th Asian Control Conference (ASCC), Istanbul, 2013, pp. 1\u20136.","DOI":"10.1109\/ASCC.2013.6606313"},{"key":"S0263574716000230_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.803463"},{"key":"S0263574716000230_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2009.2025508"},{"key":"S0263574716000230_ref3","doi-asserted-by":"crossref","unstructured":"Y. Q. Chen and Z. Wang , \u201cFormation Control: A Review and a New Consideration,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), AB, Canada, 2005, pp. 3181\u20133186.","DOI":"10.1109\/IROS.2005.1545539"},{"key":"S0263574716000230_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.899732"},{"key":"S0263574716000230_ref12","doi-asserted-by":"publisher","DOI":"10.1080\/00207179208934270"},{"key":"S0263574716000230_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2007.09.019"},{"key":"S0263574716000230_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2002717"},{"key":"S0263574716000230_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2012.2183831"},{"key":"S0263574716000230_ref17","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2009.0513"},{"key":"S0263574716000230_ref26","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2011.0492"},{"key":"S0263574716000230_ref28","doi-asserted-by":"publisher","DOI":"10.1080\/00207170902769928"},{"key":"S0263574716000230_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2013.01.051"},{"key":"S0263574716000230_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2009.2018139"},{"key":"S0263574716000230_ref20","first-page":"4","article-title":"Adaptive formation control of electrically driven nonholonomic mobile robots with limited information","volume":"41","author":"Park","year":"2011","journal-title":"IEEE Trans. Syst. Man Cybern. Part B: Cybern."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574716000230","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,7]],"date-time":"2019-09-07T11:22:59Z","timestamp":1567855379000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574716000230\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,5,12]]},"references-count":28,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2017,7]]}},"alternative-id":["S0263574716000230"],"URL":"https:\/\/doi.org\/10.1017\/s0263574716000230","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,5,12]]}}}