A. Mohagheghi - School of Electrical and Computer Engineering, Shiraz University
A. Khayatian
M. Dehghani

This paper presents a decentralized control scheme for the formation control of multiple electrically driven mobile robots based on artificial potential functions and backstepping control method. Backstepping control is used to extend the theoretical potential fields based formationcontrol methods designed for mass-less kinematic agents to the case of fully actuated electrically driven mobile robots. The proposed method maintains the decentralized nature of the control method as well as its convergence and stability properties and improves the trajectories agents follow to the desired formation (transient system behavior). Asymptotic stability of the system is proved using Lyapunov stability analysis. Simulation results are presented to illustrate the effectiveness of this method.

multi-agent systems, formation control, backstepping control, electrically driven WMRs