Dynamic Image-Based Formation Control of Omnidirectional Mobile Robots via SMC

In this paper, we propose a vision-based formation control strategy for monocular cameras fixed on omnidirectional mobile robots (OMRs) and design a prescribed performance sliding mode control (SMC) law. We explore the visual kinematics of feature points relative to the camera frame and present the dynamics of OMRs. By crafting performance envelope and conducting error transformations, the field of view constraint can be ensured. Additionally, we use Lyapunov tools to demonstrate the global stability of the proposed control algorithm and validate its effectiveness and performance through numerical simulations.