ABSTRACT This paper proposes a composite control strategy for the formation control of a group of wheeled mobile robots (WMRs) by taking full advantages of model predictive control (MPC) and adaptive terminal sliding mode control (ATSMC) techniques. To begin with, in order to confirm the formulation stability of leader-follow system, a formation controller based on MPC scheme is proposed to assure the desired formation and the position consistency of followers. Afterward, a dynamic controller based on ATSMC scheme is developed for the leader to observe and then compensate the external disturbance as soon as possible. With the presented composite control strategy, not only the desired formation but also trajectory tracking can be simultaneously achieved, in addition to offering the leader to be robust and adaptive to overcome the uncertain disturbances. At last, the simulation results illustrate the feasibility and effectiveness of the proposed control strategy.

中文翻译：

---

具有自适应扰动抑制的轮式移动机器人复合引导-跟随编队控制

摘要 本文充分利用模型预测控制（MPC）和自适应终端滑模控制（ATSMC）技术，提出了一种用于轮式移动机器人（WMR）编队控制的复合控制策略。首先，为了确定Leader-Follow系统的编队稳定性，提出了一种基于MPC方案的编队控制器，以保证所需编队和追随者的位置一致性。之后，开发了一种基于ATSMC方案的动态控制器，供领导者观察并尽快补偿外部扰动。使用所提出的复合控制策略，不仅可以实现所需的编队，还可以同时实现轨迹跟踪，除了提供领导者强大和适应性来克服不确定的干扰。最后，仿真结果验证了所提出的控制策略的可行性和有效性。