Convergence analysis and controller design for a team of mobile robots subject to measurement error

This paper deals with the steady-state error analysis in the formation control of wheeled mobile robots with leader follower structure. A nonholonomic model is considered for each robot, and it is assumed that each follower is capable of measuring its relative distance and relative velocity with respect to the leader. However, these measurements are assumed to be subject to error. A control law is proposed, and its convergence properties are investigated. Using the linear matrix inequalities (LMI) approach, the upper bounds of the steady state position and velocity errors due to the measurement error are minimized. Simulations demonstrate the efficacy of the results.