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| Formation Control of Three Wheeled Robots Based on Backstepping |
| YU Meiyan, YANG Hongyong, SUN Yujiao
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| School of Information and Electrical Engineering, Ludong University, Yantai 264025, China |
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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.
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Received: 13 November 2020
Published: 18 June 2021
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