Robust Tracking Control for Non-holonomic Wheeled Mobile Robots in a Leader-Follower Formation with Time-gap Separation

• Published in: 2020 IEEE Congreso Bienal de Argentina (ARGENCON) pp. 1 - 9
• Main Authors: Baquero-Suarez, Mauro, Mas, Ignacio, Giribet, Juan I.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01-12-2020
• Subjects: Estimation; Leader-follower Formations; Mobile robots; Multi-body Dynamics; Robust Control; Synchronization; Tracking; Trajectory; Unmanned aerial vehicles; Wheels
• DOI: 10.1109/ARGENCON49523.2020.9505375

This work addresses the design and validation of a time-gap synchronized leader-follower formation scheme for wheeled mobile multi-robot systems. This scheme generates reference trajectories for each robot through the estimation via observer of the delayed behavior of its predecessor. A second goal of this paper is the precise and efficient tracking of these references to achieve the desired movement of the chained formation. Therefore, a robust two-stage controller is proposed, where the angular velocity of lateral wheels is regulated in a first stage by a torque controller, with velocity references provided by a tracking controller that commands the robot's pose in a second stage. The outlined theory is validated through successful results in simulations of multi-body dynamic models, integrating ADAMS and MATLAB.