Robot formation control using backstepping and sliding mode techniques

Abstract

This paper presents a formation control of nonholonomic mobile robots for a leader-follower scheme. The control design is based on a backstepping recursive procedure together with passivity feedback equivalence and sliding mode techniques. In particular, the sliding mode technique allows to get a robust formation control in the sense that it diminishes the effect of model uncertainties. Some simulations are presented to show the performance of the controller.