A nonlinear sliding mode controller is proposed to coordinate a group of nonholonomic mobile robots so that a desired formation can be achieved. 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。
After state preestimate and state movement analysis, a discrete sliding mode controller which can essentially avoid the chattering phenomenon is designed. 通过系统状态预估及对状态运动的分析，设计了可以完全消除系统抖振的滑模控制器。
