Unified control solution for mobile robot formations

ROSALES, CLAUDIO; FRANCISCO ROSSOMANDO; LUCIO SALINAS; JAVIER GIMENEZ; CARELLI RICARDO

Atenas

Congreso; 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021; 2021

IEEE

This paper presents a unified control for a for mation of mobile robots in positioning, path following, and trajectory tracking tasks. 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 the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations. This paper presents a unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. 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 the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations.