Velocity Estimator and Twisting Control Based Formation of Mobile Robots in Presence of Delay

The paper presents formation control problem of torque-controlled non-holonomic mobile robots under time-varying communication delays using twisting controller. The communication topologies are undirected but are static in nature. It is shown in the paper that in the presence of bounded delay consensus is formed. A velocity estimator is also used to estimate the unknown states of the robot asymptotically. In this paper kinematics and dynamics of non-holonomic mobile robot is studied and a robust twisting controller is designed for the formation control problem which drives the robot irrespective of its initial value. Simulation results shows the formation tracking of the robots under various possible conditions.