Dynamic state feedback control of robotic formation system

This paper proposes a constructive control approach, dynamic state feedback formation control, for achieving the realization of the Multi-Robot Formation System (MRFS) with respect to the problem of dilation of a formation shape and stabilization issue in nonholonomic system simultaneously. Combining with theoretical analysis, the proposed control approach has been successfully to deal with the following design issues: one is to elude the switch control of the nonholonomic MRFS for preventing the divergence of the MRFS; another one is to stabilize the MRFS which is allowed to change the interconnection structure dynamically.