SDRE based Leader-Follower Formation Control of Multiple Mobile Robots

Abstract

<span style="font-family: T3Font_6; font-size: xx-small;"><span style="font-family: T3Font_6; font-size: xx-small;"><em> <span style="font-size: small;"> </span></em><p class="MsoNormal" style="margin: 0cm 0cm 0pt; text-align: justify;"><em><em style="mso-bidi-font-style: normal;"><span style="font-size: 11pt; mso-bidi-font-size: 10.0pt; mso-ansi-language: EN-US;" lang="EN-US">Formation control of multiple mobile robots is relatively a new area of robotics and increase the control performance and advantages of multiple mobile robots systems. <a name="OLE_LINK72">In this work we present a study concerning the modeling and formation control of a robotic system composed by two mobile robots, where one robot is the leader and the other is follower</a></span></em><em style="mso-bidi-font-style: normal;"><span style="font-size: 11pt; mso-bidi-font-size: 10.0pt; mso-ansi-language: EN-US;" lang="EN-US">. The system is a nonlinear dynamical system and cannot be controlled by traditional linear control techniques. The control strategy proposed is the SDRE (State-Dependent Riccati Equation) method. Simulations results with the software Matlab show the efficiency of the control method.</span></em></em></p><span style="font-size: small;"> </span></span></span>