This paper focuses on the design of robust control laws for a heterogeneous multi-agent system composed of omnidirectional and differential-drive mobile robots under the leader–follower scheme and considering the distance and orientation measurements. It is assume that the agent leader is an omnidirectional mobile robot moving freely in the plane while the rest of the agents are the followers. The control laws are designed by means of the Backstepping approach. It is proved that, although the control laws do not need information about the velocity of the leader, the followers will circumnavigate the leader. Numerical simulations and real-time experiments exhibit the performance of the proposed control strategy.

本文重点研究了在领导者跟随方案下由全向和差动驱动移动机器人组成的异构多主体系统的鲁棒控制律，并考虑了距离和方向测量。假定代理人领导者是在飞机上自由移动的全向移动机器人，而其他代理人则是跟随者。控制律是通过Backstepping方法设计的。事实证明，尽管控制律不需要有关领导者速度的信息，但跟随者仍会绕过领导者。数值模拟和实时实验展示了所提出的控制策略的性能。