Distributed Containment Control with Dynamic Leaders Based on Binocular Vision

In this paper, we study the distributed containment control problem for multi-robot system with dynamic leaders in the presence of parametric uncertainties. The binocular vision system is used as the sensing device to provide real-time status information for the followers, so flrstly, a new binocular visual model for dynamic target is established. Then RBF neural networks are employed to approximate the unknown nonlinear functions in the system model of followers, and the approximated values are introduced into the designed sliding mode controllers to make compensation. Finally, simulation results are presented to show the validity of the proposed control strategy.