Formation Control of Multirobot Based on IO Feedback Linearization and Potential Function

الملخص EN

Standard techniques of I/O linearization are widely applied to leader-follower approach for multirobot formation control.

However general leader-follower approach cannot adapt to the environment with obstacles.

Concerning that issue, a formation control method of multirobot system based on potential function is proposed in this paper, and a new control law is designed by choosing a proper potential function and employing Lyapunov stability theory, which stabilizes the formation of the multirobot system.

We combine the method with a leader-follower approach to solve the problem that the latter cannot avoid obstacles.

Simulation results are given to validate the method.