An Adaptive -Based Formation Control for Multirobot Systems

Abstract

We describe a decentralized formation problem for multiple robots, where an ∞ formation controller is proposed. e network of dynamic agents with external disturbances and uncertainties are discussed in formation problems. We �rst describe how to design social potential �elds to obtain a formation with the shape of a polygon. en, we provide a formal proof of the asymptotic stability of the system, based on the de�nition of a proper Lyapunov function and ∞ technique. e advantages of the proposed controller can be listed as robustness to input nonlinearity, external disturbances, and model uncertainties, while applicability on a group of any autonomous systems with -degrees of freedom. Finally, simulation results are demonstrated for a multiagent formation problem of a group of six robots, illustrating the effective attenuation of approximation error and external disturbances, even in the case of agent failure or leader tracking.