Leader-Follower Control Strategy with Rigid Body Behavior
J. González-Sierra, Eduardo Gamaliel Hernández-Martínez, Enrique D. Ferreira, J.J. Flores-Godoy, Guillermo Fernández‐Anaya, Pablo Paniagua-Contro · IFAC-PapersOnLine · 2018
This work presents a control strategy for a leader-follower formation distance-based model of two single order kinematic model of robots. It uses feedback linearization techniques to derive the control action on the follower robot to maintain a desired distance and orientation with respect to the leader robot. Besides, it is shown that a suitable selection of the desired parameters make the formation behave as a rigid body. The control strategy is applied in a laboratory environment with two omnidirectional robots to show its performance.