Robust leader-following formation control of multiple mobile robots using Lyapunov redesign

This paper proposes a novel formation control strategy for multiple nonholonomic mobile robots using Lyapunov redesign. Leader-follower (1 - φ), and leader-leader (1 - 1) formation control has been formulated based on the first-order kinematics model of robots. The effect of the absolute velocity of leader robot, which is difficult to accurately measure, treated as model uncertainty of the system. Using Lyapunov redesign technique, a formation controller is designed to stabilize the overall system and makes the formation control system robust against the unmeasured velocity of the leader robot. Our approach is implemented through simulation and the results are shown to verify its operation.