This article studies coordination control of the multirobot system for target tracking problem with disturbances in time-varying communication environment. An adaptive sliding mode control is designed to complete the target tracking task with the effect of disturbances and continuously time-varying topologies. This means that the communication between the robots is not switching among constant topologies but changes continuously along with time. The continuously time-varying topology is constructed by a set of fixed Laplacian matrices and variable scheduling functions, which is known as polytopic model structure. The designed adaptive sliding mode control can effectively lower the influence of disturbance and improve tracking performance even under the continuously time-varying topology. Furthermore, numerical simulations are given to demonstrate the effectiveness of the obtained results.

中文翻译：

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在连续时变拓扑下执行目标跟踪的受干扰多机器人系统的自适应滑模控制

本文研究了多机器人系统的协调控制，以解决时变通信环境中存在干扰的目标跟踪问题。自适应滑模控制旨在完成具有扰动和连续时变拓扑影响的目标跟踪任务。这意味着机器人之间的通信不是在恒定的拓扑结构之间切换，而是随时间不断变化。连续时变拓扑由一组固定的拉普拉斯矩阵和可变调度函数构成，称为多面模型结构。设计的自适应滑模控制即使在连续时变拓扑下也能有效降低扰动的影响，提高跟踪性能。此外，