Distributed formation tracking control of multiple mobile robotic systems

In this paper formation tracking control of multiple wheeled mobile robots is studied. The reference trajectory is considered as a virtual leader vehicle system while the real multiple vehicle systems are considered as follower agents. Chained-form systems and theories of cascaded systems and communication graph are introduced to design control methods for kinematic systems. In addition to distributed control algorithms for kinematic multi-vehicle systems, formation control of vehicles' dynamics is addressed with the aid of backstepping method, parametrical uncertainties of vehicles' mechanics are estimated by sliding mode control. Simulation results are presented to verify the proposed control laws.