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Formation Control with Switching Topology for Multi-agent Nonholonomic Wheeled Mobile Robot Systems

This paper aims to design a chattering-free distributed control using terminal exponential functions and graph theory for Multiagent Nonholonomic Wheeled Mobile Robot Systems. The Lyapunov technique is used to estimate the terminal tracking criteria. The article defines the formation of distributed control for nonholonomic multiagent wheeled robot systems with consensus tracking for undirected topologies of a fixed/switched. In order to evaluate the effectiveness and efficiency of the proposed distributed control approach in a variety of scenarios, numeric simulations have been implemented.