Robust distance-angle leader-follower formation control of non-holonomic mobile robots

In this paper, we study formation control problem for a multi-robot system. Based on a leader-follower architecture, each follower keeps a desired relative position in the coordinate frame of a leader which determines the formation trajectory. It is supposed that each robot is exposed to an external disturbance. Hence, a nonlinear robust tracking controller is proposed to achieve a desired formation. Simulation results confirm the accuracy of the proposed formation control strategy.