SDRE based Leader-Follower Formation Control of Multiple Mobile Robots

Abstract

Formation control of multiple mobile robots is relatively a new area of robotics and increase the control performance and advantages of multiple mobile robots systems. In this work we present a study concerning the modeling and formation control of a robotic system composed by two mobile robots, where one robot is the leader and the other is follower. The system is a nonlinear dynamical system and cannot be controlled by traditional linear control techniques. The control strategy proposed is the SDRE (State-Dependent Riccati Equation) method. Simulations results with the software Matlab show the efficiency of the control method.