Analysis on nonlinear feedback controls for differential mobile robots and its application to multi-robot formation control - part two

This is the second part of the whole paper and in this part, the robustness of a nonlinear control law for mobile robot is examined under Invariance Principles. It provides insight into the stable zone for a given set of controller gains and make possible a more robust controller under some circumstances. Improvement to this control law is achieved from the analysis results and is verified in Matlab simulation. Implementation with real robots has been done to demonstrate the application to multiple robot formation control.