In this article, the time-varying formation tracking control of wheeled mobile robots with region constraint is investigated from a generalized Udwadia-Kalaba framework. The communication network is modeled as a directed and weighted graph that has a spanning tree with the leader being the root. By reformulating the time-varying formation tracking control objective as an equality constrained equation and transforming the region constraint by a diffeomorphism, the time-varying formation tracking controller with the region constraint is designed under the generalized Udwadia-Kalaba framework. Compared with the existing works on time-varying formation tracking control, the region constraint is taken into account in this paper, which ensures the safety of the robots. Finally, the feasibility of the proposed control strategy is illustrated through some numerical simulations.

翻译：本文从广义Udwadia-Kalaba框架出发，研究了具有区域约束的轮式移动机器人的时变编队跟踪控制问题。通信网络被建模为一个具有生成树的有向加权图，其中领导者作为根节点。通过将时变编队跟踪控制目标重构为等式约束方程，并利用微分同胚变换处理区域约束，在广义Udwadia-Kalaba框架下设计了具有区域约束的时变编队跟踪控制器。与现有关于时变编队跟踪控制的研究相比，本文考虑了区域约束，从而保证了机器人的安全性。最后，通过数值仿真验证了所提控制策略的可行性。