Formation Control Of Multiple Mobile Robots Based On Predetermined Performance

With the continuous development of multi-robot technology,multi-robot technology has been applied in many fields and has received more and more attention.A single robot cannot satisfy people's increasing demand for robot performance due to single robot performance limitations.Multi-robot systems have better performance and can collaborate to complete more complex tasks.Multi-robot formation control is an important direction of multi-robot technology,and the research on multi-robot formation control has great significance.In this paper,takes wheeled mobile robots as the research object to study the formation control of multiple mobile robots with prescribed performance.The main research contents of this paper are as follows:A formation control method is developed for leader-follower formation of multiple mobile robots with prescribed performance.This method introduces a performance function to constrain the performance of the formation tracking errors,a transformation function transform the original formation tracking errors with constrained into unconstrained one.Then,a controller is designed based on kinematic model.It is proved that the controller can make all signals in the closed-loop system bounded and that the formation tracking errors converge to a small neighborhood of the origin with the prescribed performance bounds.The simulation and experiment results verify the effectiveness of the proposed method.The finite time convergence problem of formation control of multiple mobile robots leader-follower formation control is studied.In this method,in order to reduce the time required for the convergence of the formation tracking errors,a controller is designed based on fast terminal sliding mode control and prescribed performance control.It is proved that the controller can make all signals in the closed-loop system bounded and that the formation tracking errors converge in a finite time,while the formation tracking errors can satisfy the prescribed performance.The simulation and experimental results verify the effectiveness of the formation control method.