Neurodynamics- and observer-based distributed robust formation control for mobile robots

The formation control of multiple robot systems presents significant challenges due to practical constraints such as disturbances, speed discontinuities, velocity constraints, and incomplete state information. This paper introduces a novel biologically inspired control scheme that effectively addresses these challenges. First, utilizing the cascade design technique, a distributed estimator is presented to provide smooth estimates of the leader’s state without requiring derivative information. Subsequently, a nonlinear state estimator is proposed to provide accurate estimates of both states and disturbances. After that, a biologically inspired kinematic controller is developed that effectively resolves the speed surge and velocity constraint issues. Following the kinematic control design, a robust dynamic controller is developed based on the observed state to enhance robustness against disturbances. Finally, extensive simulation studies validate the effectiveness of the proposed approach and verify the theoretical results.