Fastest with No-Overshoot Velocity Control Design of a Two-Differential Robotic Formation

Abstract

This paper presents the control design for a multi-agent system (MAS) of land-based mobile robots on wheels formation, that also implements a PI control for the fastest with no-overshoot response at each agent's velocity. Regarding the robot formation tracking control design, a mathematical model constructed from a geometric approach is applied. In addition, the formation's asymptotic stability is guaranteed in the light of Lyapunov's theory. When discussing the agents' velocity control, the mentioned Proportional-Integral PI algorithm is designed by using different methodologies which include σ-stability, λ tuning, and Haalman's tuning techniques. Finally, the theoretical results are confirmed by simulations.