Distributed formation tracking control of multiple mobile robotic systems

In this paper formation tracking control of multiple wheeled mobile robots is studied. The reference trajectory is considered as a virtual leader vehicle system while the real multiple vehicle systems are considered as follower agents. Chained-form systems and theories of cascaded systems and communication graph are introduced to design control methods for kinematic systems. In addition to distributed control algorithms for kinematic multi-vehicle systems, formation control of vehicles´ dynamics is addressed with the aid of backstepping method, parametrical uncertainties of vehicles´ mechanics are estimated by sliding mode control. Simulation results are presented to verify the proposed control laws.