Multi - Mobile Robot Leader -Follower Formation Distributed Control Under Switching Topology

摘要

According to the characteristics of nonholonomic mobile robot kinematics model, this paper analyzes the changes of topology among multi-mobile robots, and proposes a distributed formation control method. Firstly, the dynamic and kinematics equations of the multi-mobile robot system are analyzed, and a distributed estimation strategy for system stability is proposed under the condition of fixed topology. Then, considering the stable switching topology, the globally uniform exponential convergence conditions of leader-follower formation system are studied by Lyapunov method. Finally, the upper and lower bounds of the convergence time of hybrid switching systems are determined by the mean delay time method. Simulation results show that these method are feasible.