Abstract
paper presents a comparative study of three different path tracking control laws for the formation of a group of nonholonomic mobile robots. By introducing a unified error of the formation and trajectory tracking using; the dynamic feedback linearization control (1), dynamic-static feedback linearization control (2) and nonlinear time-invariant control (3) are compared. The simulations results show that the dynamic-static feedback linearization technique presents a stable tracking with smoother behaviour and avoiding discontinuities for tracking trajectory of the robot leader. Finally, this method was implemented experimentally in three different paths formatting a simple triangle with three mobile robots in a leader-follower type motion. Moreover, the analysis in this paper reveals some important issues raising that the following control on this system can be extended to underactuated AUVs in future work.
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