Leader-Follower Formation Control of Multi-robots by Using a Stable Tracking Control Method

  • Yanyan Dai
  • Viet-Hong Tran
  • Zhiguang Xu
  • Suk-Gyu Lee
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6146)


In this paper, the leader-waypoint-follower robot formation is constructed based on the relative motion states to form and maintain the formation of multi-robots by stable tracking control method. The main idea of this method is to find a reasonable target velocity and angular velocity to change the robot’s current state. The proposed Lyapunov functions prove that robots change current velocities to target velocities which we propose, in globally asymptotically stable mode. The simulation results based on the proposed approach show better performance in accuracy and efficiency comparing with EKF based approach which is applied in multiple robots system in common.


leader-waypoint-follower robots formation stable tracking control method EKF Lyapunov function 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Yanyan Dai
    • 1
  • Viet-Hong Tran
    • 1
  • Zhiguang Xu
    • 1
  • Suk-Gyu Lee
    • 1
  1. 1.Department of Electrical EngineeringYeungnam UniversityGyeongsbukKorea

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