Tracking Control of Two Mobile Robots in Leader-Follower Mode Based on Terminal Sliding Mode Method

In order to solve the docking problem of multiple wheeled mobile robots in the process of motion, this paper presents a controller for the formation of wheeled mobile robot. The proposed control law provides a method for the leader agent to track the target trajectory. The follower agent keeps a given distance from the leader and follows the position and attitude of the leader to prepare for the docking task with the leader. Based on terminal sliding mode control, the proposed controller provides the finite-time convergence of the formation errors. The controllers are designed based on Lyapunov stability analysis. In conclusion, a numerical example is offered to demonstrate the practicality and usefulness of the proposed method.