SUMMARYThis paper deals with the problem of the formation control of nonholonomic mobile robots in the leader–follower scenario without considering the leader information, as a result of its velocity and position. The kinematic model is reformulated as a formation model by incorporating the model uncertainties and external disturbance. The controller is presented in the two-step process. Firstly, the tracking problem is taken into consideration, which can be used as a platform to design a controller for the multi-agents. The proposed controller is designed based on a non-singular fast terminal sliding mode controller (FTSMC), which drives the tracking error to zero in finite time. It not only ensures the tracking but also handles the problem related to non-singularities. Moreover, the design control scheme is modified using high-gain observer to resolve the undefined fluctuations due to man-made errors in sensors. Secondly, the multi-agent tracking problem is considered; hence, a novel formation control is designed using FTSMC, which ensures the formation pattern as well as tracking. Furthermore, the obstacle avoidance algorithm is incorporated to avoid the collision, inside the region of interest. With the Lyapunov analysis, the stability of the proposed algorithm is verified. As a result, simulated graphs are shown to prove the efficacy of the proposed control scheme.

中文翻译：

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基于非奇异终端滑模控制的非完整移动机器人多智能体跟踪

摘要本文处理了在不考虑领导者信息的情况下，非完整移动机器人在领导者 - 跟随者场景中的编队控制问题，因为它的速度和位置。通过结合模型的不确定性和外部干扰，将运动学模型重新表述为地层模型。控制器以两步过程呈现。首先，考虑跟踪问题，可以作为平台设计多智能体的控制器。所提出的控制器是基于非奇异快速终端滑模控制器（FTSMC）设计的，该控制器在有限时间内将跟踪误差驱动为零。它不仅可以确保跟踪，还可以处理与非奇点相关的问题。而且，使用高增益观测器对设计控制方案进行了修改，以解决传感器中人为错误导致的不确定波动。其次，考虑多智能体跟踪问题；因此，使用 FTSMC 设计了一种新颖的编队控制，以确保编队模式和跟踪。此外，还结合了避障算法以避免在感兴趣区域内发生碰撞。通过李雅普诺夫分析，验证了所提算法的稳定性。结果，显示了模拟图来证明所提出的控制方案的有效性。结合避障算法以避免在感兴趣区域内发生碰撞。通过李雅普诺夫分析，验证了所提算法的稳定性。结果，显示了模拟图来证明所提出的控制方案的有效性。结合避障算法以避免在感兴趣区域内发生碰撞。通过李雅普诺夫分析，验证了所提算法的稳定性。结果，显示了模拟图来证明所提出的控制方案的有效性。