Distributed Leader-Follower Formation Control of Nonholonomic Mobile Robots

Qun Lu1, Zhiqiang Miao2, Dan Zhang3, Li Yu3, Wenjun Ye4, Simon X. Yang5, Chun-Yi Su6

  • 1Yancheng Institute of Technology
  • 2Hunan University
  • 3Zhejiang University of Technology
  • 4Concordia University
  • 5University of Guelph
  • 6Concordia Univ.

Details

11:20 - 11:40 | Wed 4 Sep | Room FH 8 | WeB8.5

Session: Robotic Systems I

Abstract

This paper considers the problem of distributed leader-follower formation control for nonholonomic mobile robots only using local interactions among the robots. First, a distributed estimation strategy is presented for each follower robot to estimate the leader’s state. Then the dynamic equations of the formation tracking errors are formulated and a distributed formation control scheme is designed, which yields globally uniformly ultimately bounded stability for the closed-loop systems without requiring persistent excitation conditions. Finally, a simulation example demonstrates the effectiveness of the proposed approach.