Formation Control Of Multi-robot Based On Leader-follower Approach

With the fast development of robot technology and automation products,coordination of multi-robot technology has become an important research direction in robotics and automation fields.Compared with a single robot,multi-agent system has many advantages such as more stable and parallel execution capability.As a basic problem of coordination of multi-agent,the formation control of multi-agent has always been a hot topic.This thesis first presents the background and current research of the formation control of multi-robot,then gives some related preliminaries about multi-robot formation control.Finally proposes the control strategies based on backstepping and consensus algorithm respectively.The main contributions of this thesis are follows:1.As for multi-robot formation control,a control approach is proposed based on backstepping combined with dynamic error equation.The proposed control approach reduces the computational effort and achieves faster convergence.2.In order to solve the velocity jump problem caused by initial errors,allowing for the output of shunting model is smooth and bounded,a novel controller is proposed by incorporating the shunting model into the backstepping technique.The velocity controller's output become more smooth and control result is better.3.Considering imperfect fault tolerance of precious control strategy,allowing for leader's state is not available to all the followers,a state observer is designed to improve formation control approach based on consensus theory.The proposed control algorithm proved to be effective.Lyapunov stability theory and barbalat lemma is employed to prove asymptotic stability of the closed-loop system.The effectiveness of control strategy and control result is verified by Simulink in the matlab.