基于两级滑模控制的多移动机器人映射领航编队控制策略

The formation control for multiple mobile robots under low communication load is investigated. A kinematics model of the nonholonomic constrained wheeled mobile robot is defined by coordinate transformation and the introduction of side slipping increment, which explicitly satisfies the pure rolling condition. By using the leader-follower strategy, system formation is converted into distributed consensus control under the new model through the one-way communication of leader to follower and the plan of a mapping leader. A two-stage exponential reaching sliding mode controller is designed for the angular and linear velocity of the follower to rapidly achieve convergence relative to the leader’s trajectory error, and the stability of the controller is then proved by Lyapunov theory. Numerical simulation studies show that the formation control strategy proposed in this paper can satisfy the task requirements of formation maintenance and formation transformation of multi-mobile robots, verifying the correctness and effectiveness of the theoretical analysis.