Leader-Follower Formation Control of Multiple Wheeled Mobile Robot systems Based On Dynamic Surface Control

Abstract

In order to solve the problem which is the leader- follower formation control for robots, a dynamic surface control method is proposed for robots whose wheel axis center and geometric center don't coincide. A virtual vehicle is introduced to transform the formation problem into a trajectory tracking problem. The dynamic surface method is proposed to avoid the differential explosion caused by backstepping. Using Lyapunov function theory, it is proved that all signals of the closed-loop system are consistent and ultimately bounded. The simulation results also prove the effectiveness of the proposed method.