This paper addresses the algorithm of formation control for multiple nonholonomic mobile robots.The reference trajectory was represented by a virtual leader whose states were available to a subset of the following mobile robots and the robots only interacted with each other locally.Coordinate transformation was proposed to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem.Under the restriction of persistent excitation on reference trajectories, distributed control laws were proposed for achieving the formation control objectives.Using the Lyapunov function and graph theory, rigorous proofs show that the group of mobile robots can exponentially converge to a desired geometric formation pattern and its centroid can move along the reference trajectory.The validity of the proposed control method is verified by numerical simulation.%本文研究了多非完整移动机器人编队控制算法.在该算法中,参考轨迹被视为虚拟领导者,只有部分机器人可以接收到领导者信息,机器人之间只能进行局部信息交互.利用坐标变换将机器人系统的编队问题转化为变换后系统的一致性问题,在持续激励的条件下,设计了一种分布式控制算法,通过图论与Lyapunov 理论证明了该分布式控制算法可以使移动机器人队伍指数收敛于期望队形,并使队形的几何中心指数收敛到参考轨迹.最后,数值仿真验证了该控制算法的有效性.
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