This paper 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 resolves the impractical speed jump issue that exists in the conventional backstepping design. Additionally, considering the system and measurement noises, the proposed control strategy not only removes the chattering issue existing in the conventional sliding mode control but also provides smooth control input with extra robustness. After that, an adaptive sliding innovation filter is integrated with the proposed control to provide accurate state estimates that are robust to modeling uncertainties. Finally, we performed multiple simulations to demonstrate the efficiency and effectiveness of the proposed formation control strategy.

翻译：本文研究了多台差速驱动移动机器人的分布式领航-跟随编队控制问题。首先引入一种分布式估计器，该估计器仅需每个跟随机器人自身及其邻居的状态信息。随后，我们提出一种基于生物启发神经动力学的反步法与滑模控制混合编队控制方法，并对其稳定性进行了证明。所提出的控制策略解决了传统反步法设计中存在的实际速度跳变问题。此外，考虑到系统噪声和测量噪声，该控制策略不仅消除了传统滑模控制中存在的抖振问题，还能提供额外鲁棒性下的平滑控制输入。接着，将自适应滑模创新滤波器与所提出的控制方法相结合，以提供对建模不确定性具有鲁棒性的精确状态估计。最后，我们通过多次仿真验证了所提出编队控制策略的效率和有效性。