Formation control of multiple mobile robots with prescribed performance

In this paper, a formation control approach is developed for leader-follower formation of multiple mobile robots with prescribed performance. In order to apply prescribed performance to the mobile robot formation, we design a transformation function to transform the original formation tracking errors with constrained into an equivalent unconstrained one. Then, a new controller is proposed based on kinematic model. It is proved that all signals in the closed-loop system are bounded and that the formation tracking errors converge to a small neighborhood of the origin with the prescribed performance bounds. The simulation results verify the effectiveness of the proposed method.