Virtual Leader Based Robust Adaptive Formation Control of Multi-Unmanned Ground Vehicles (UGVs)

By using "virtual leader" concept, together with the structural properties of the vehicles, this paper presents a highly robust and adaptive formation control algorithm free of singularity. It is shown that the algorithm is able to generate the control current directly for the driving motor of the vehicle, steering the follower toward the formation position precisely. The overall control scheme developed has simple structure and does not demand detail vehicle system dynamic information. As confirmed by both theoretical analysis and computer simulation, the developed control scheme is effective in maintaining close formation of multiple UGVs.