Robust Tracking Control for Non-holonomic Wheeled Mobile Robots in a Leader-Follower Formation with Time-gap Separation

MAURO BAQUERO-SUAREZ; IGNACIO MAS; JUAN I. GIRIBET

Resistencia, Chaco

Congreso; Argencon 2020; 2020

IEEE

This work addresses the design and validation ofa time-gap synchronized leader-follower formation scheme forwheeled mobile multi-robot systems. This scheme generatesreference trajectories for each robot through the estimation viaobserver of the delayed behavior of its predecessor. A secondgoal of this paper is the precise and efficient tracking of thesereferences to achieve the desired movement of the chainedformation. Therefore, a robust two-stage controller is proposed,where the angular velocity of lateral wheels is regulated in a firststage by a torque controller, with velocity references providedby a tracking controller that commands the robot?s pose in asecond stage. The outlined theory is validated through successfulresults in simulations of multi-body dynamic models, integratingADAMS and MATLAB