Abstract：To solve the problem of path tracking control for three wheeled robots with nonholonomic dynamics characteristics, a multi robot cooperative formation control strategy is proposed by using Backstepping method. Firstly, the formation problem of multi robot system which based on pilot following mode is transformed into the problem of tracking the virtual leader's trajectory by following robot, and then the differential equation of pose error of multi robot system kinematics is obtained; then, the Backstepping method is used to construct the robot cooperative formation control strategy of nonlinear system. Lyapunov function and other knowledge are applied to analyze the robot dynamic system. It is concluded that the multi robot system is stable and can realize formation control. Finally, we verify the availability of the formation method through simulation experiments.
于美妍, 杨洪勇, 孙玉娇. 基于Backstepping的三轮机器人编队控制[J]. 复杂系统与复杂性科学, 2021, 18(3): 28-34.
YU Meiyan, YANG Hongyong, SUN Yujiao. Formation Control of Three Wheeled Robots Based on Backstepping. Complex Systems and Complexity Science, 2021, 18(3): 28-34.
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