Distributed leader-following formation control for multiple nonholonomic mobile robots via bioinspired neurodynamic approach

Abstract

This paper investigates the distributed leader-following formation control problem for multiple nonholonomic wheeled mobile robots via a bioinspired neurodynamic approach. To do this, first, we develop a distributed estimator for each follower robot which uses its own information and the information of its neighboring robots to estimate the leader’s states. Second, a formation tracking control law is proposed for each follower robot based on the estimated states of the leader using the backstepping technique. Then, a bioinspired neurodynamics-based backstepping controller is designed to solve the impractical velocity jumps problem. Furthermore, Lyapunov function-based approach is utilized to derive sufficient conditions which guarantee asymptotic stability of the multiple mobile robot system. Finally, simulation results are presented to illustrate the effectiveness of the proposed controllers.