{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T06:28:45Z","timestamp":1777703325718,"version":"3.51.4"},"reference-count":21,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2016,12,5]],"date-time":"2016-12-05T00:00:00Z","timestamp":1480896000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"published-print":{"date-parts":[[2016,12,5]]},"abstract":"<jats:p>This paper addresses a control scheme for formation maneuvers of a group of robots. The control scheme integrates an integral sliding mode (ISM) controller and a fuzzy compensator. The formation mechanism is leader-follower. The robots suffers from uncertainties. Chained to the uncertainties, the formation dynamics become uncertain. The control scheme needs to resist the formation uncertainties, meanwhile, the robots has to be formed up. Concerning the formation uncertainties, they are assumed to be unknown but bounded. Since they challenge the formation control, the fuzzy compensator is utilized to approximate them where an ISM-based adaptive law is deduced from the stability analysis. In the sense of Lyapunov, not only the convergence of the approximation error can be guaranteed, but also such a control scheme can asymptotically stabilize the formation system. Compared to the results by the sole ISM control, some numerical simulations are presented to demonstrate the feasibility and performance of the control scheme.<\/jats:p>","DOI":"10.3233\/jifs-169187","type":"journal-article","created":{"date-parts":[[2016,12,6]],"date-time":"2016-12-06T11:11:13Z","timestamp":1481022673000},"page":"3021-3028","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Formation control for uncertain multiple robots by adaptive integral sliding mode"],"prefix":"10.1177","volume":"31","author":[{"given":"Dianwei","family":"Qian","sequence":"first","affiliation":[{"name":"School of Control &amp; Computer Engineering, North China Electric Power University, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chengdong","family":"Li","sequence":"additional","affiliation":[{"name":"School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2016,12,5]]},"reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2011.2124670"},{"key":"e_1_3_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2013.2295946"},{"key":"e_1_3_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2014.7004625"},{"key":"e_1_3_1_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-011-0509-4"},{"key":"e_1_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.1177\/0959651814568365"},{"key":"e_1_3_1_7_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2011.564323"},{"key":"e_1_3_1_8_2","doi-asserted-by":"publisher","DOI":"10.3233\/IFS-151952"},{"key":"e_1_3_1_9_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-014-0131-9"},{"key":"e_1_3_1_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2012.2196039"},{"key":"e_1_3_1_11_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2014.966281"},{"key":"e_1_3_1_12_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-012-9795-1"},{"key":"e_1_3_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2002717"},{"key":"e_1_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1080\/01969722.2014.862085"},{"key":"e_1_3_1_15_2","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1702"},{"key":"e_1_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.02.001"},{"key":"e_1_3_1_17_2","unstructured":"RossT.J. Fuzzy Logic with Engineering Applications 3rd Ed. in: John Wiley & Sons Ltd Chichester UK (2010) pp. 5\u201310."},{"key":"e_1_3_1_18_2","unstructured":"UtkinV.I. Sliding Modes in Control and Optimization 2nd Ed. Springer-Verlag Berlin Germany (1992) pp. 10\u201342."},{"key":"e_1_3_1_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2014.7004547"},{"key":"e_1_3_1_20_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2013.10.021"},{"key":"e_1_3_1_21_2","first-page":"121","article-title":"Adaptive fuzzy sliding-mode formation controller design for multirobot dynamic systems","volume":"16","author":"Chang Y.","year":"2014","unstructured":"ChangY., YangC., ChanW., LinH. and ChangC., Adaptive fuzzy sliding-mode formation controller design for multirobot dynamic systems, International Journal of Fuzzy Systems16 (2014), 121\u2013131.","journal-title":"International Journal of Fuzzy Systems"},{"key":"e_1_3_1_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2015.11.017"}],"container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.3233\/JIFS-169187","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.3233\/JIFS-169187","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.3233\/JIFS-169187","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T09:38:26Z","timestamp":1777455506000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.3233\/JIFS-169187"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,12,5]]},"references-count":21,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2016,12,5]]}},"alternative-id":["10.3233\/JIFS-169187"],"URL":"https:\/\/doi.org\/10.3233\/jifs-169187","relation":{},"ISSN":["1064-1246","1875-8967"],"issn-type":[{"value":"1064-1246","type":"print"},{"value":"1875-8967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,12,5]]}}}