Unified control solution for mobile robot formations

ROSALES, CLAUDIO; ROSSOMANDO, FRANCISCO G.; CARELLI, RICARDO

Atenas

Congreso; International Conference on Unmanned Aircraft Systems (ICUAS), Atenas Grecia; 2020

IEEE Robotics & Automation Society

This paper presents a proposal of unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. The proposal allows accomplishing the three main tasks for formation navigation with the same control structure. The control is based on a kinematic model of the formation in combination with a dynamic compensator based on a neural sliding mode control to guarantee a good tracking of reference velocities. Stability analysis of thecomplete system is performed by using the Lyapunov theory. Finally, the control scheme is validated through simulations.