Distributed Leader Follower Formation Control of Mobile Robots Based on Bioinspired Neural Dynamics and Adaptive Sliding Innovation Filter

This article investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower itself and its neighbors. Then, we propose a bioinspired neural dynamic based backstepping and sliding mode control hybrid formation control method with proof of its stability. The proposed control strategy …