This package implement multi-robot formation control with Receding-Horizontal scheme and the adaptive control to overcome the unknown slippage, the unknown slippage is an important issue when robot is moving outdoor for example in different type of soil. This pacjage mainly follow two papers (1) Observer-Based Adaptive Tracking Control of Wheeled Mobile Robots with Unknown Slippage Parameters (2) Leader-Follower Formation Control of Multiple Non- holonomic Mobile Robots Incorporating a Receding- Horizon Scheme Know that the report is a rewrite version of these two select papers.
Matlab, simulink, Mobile Robotics Simulation Toolbox
AdaptiveControlTrajectoryTracking.slx This simulink file can track circle trajectory and linear trajectory with adaptive control.
Adaptive_and_Formation_control_main.slx This simulink file uses adaptive control for the leader, on the other hand the formation will change in 60 sec.
This simulation is divide by three videos.
(1) https://youtu.be/acIaePsJlAY (2) https://youtu.be/s1IC-PTa-eM (3) https://youtu.be/5PbcEr_12_w