Leader-Following Sample data Formation Control ofNonholonomic Robots with Switching Network Topologies

In this paper the problem of sample data cooperative output regulation for the leader-following formation (LFF) problem of a homogenous multi agent system is investigated. For sample data LFF problem a distributed design approach is proposed using luenberger observer, distributed observer and a zeroorder hold circuit. The designed approach enables the robots to track a discrete reference signal generated by the leader and to achieve and maintain the desired formation for the provided initial conditions. A driving force is provided by the exogenous system which serve as a leader for the robot formation. In view of time varying interaction between robots, one case of fixed network topology and two cases of switching network topologies are considered to exhibit the multirobot network relationship. The theoretical results are verified through numerical simulations of four nonholonomic multirobot network. The simulation highlights that the robots are maintaining the desired formation and are also tracking the trajectory of the leader robot under fixed and switching topologies of the multinetwork system.