A tracking control method for flocking of AmigoBots

The formation control problem of AmigoBots is addressed in this paper. Different from the second order linear model in the classical flocking control algorithm, the model of AmigoBot is not linear and is a kind of nonholonomic system that cannot be transformed into a linear form. A discontinuous control approached is proposed to track the γ-agent. With that, AmigoBot can track the γ-agent with asymptotic stability. Formation of five Amigobots are then achieved by tracking control of five γ-agents. Simulation results verify that the proposed approached is effective.