Formations Control Based on Piecewise Smooth Dynamic Framework

This paper investigates cooperative control problems in formation of mobile robots under the nonholonomic constraints. A new method of motion control for formation is presented, which is based on piecewise smooth dynamic framework. It is attractive for its adaptability to the formation structure and desired trajectory. The quality of formation keeping can be evaluated by the instantaneous errors of formation offset and spacing distance. Some kinematics laws are developed to regulate and maintain the formation shape. Simulation results obtained using this approach are then provided.