Trajectory Tracking Control via Backstepping-Based Sliding Motion Controller for Multi-Robots

This paper addressed the formation control problem of multi-robot systems by proposing a backstepping-based sliding motion control approach. The formation was analyzed using the kinematics model, and a backstepping sliding motion controller (BSMC) was designed. The trajectory tracking errors converge to zero, both in the process of formation generation and formation switching. We conducted experiments with multi-robots to determine the effectiveness of our proposed control system in achieving formation switching and formation maintenance.