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Formation Control Of Car-Like Mobile Robots: A Lyapunov Function Based Approach, S. A. Panimadai Ramaswamy, S. N. Balakrishnan

Mechanical and Aerospace Engineering Faculty Research & Creative Works

In literature leader - follower strategy has been used extensively for formation control of car-like mobile robots with the control law being derived from the kinematics. This paper takes it a step further and a nonlinear control law is derived using Lyapunov analysis for formation control of car-like mobile robots using robot dynamics. Controller is split into two parts. The first part is the development of a velocity controller for the follower from the error kinematics (linear and angular). The second part involves the use of the dynamics of the robot in the development of a torque controller for both …