Dynamic Threshold Global Performance-Guaranteed Formation Control for Wheeled Mobile Robots with Smooth Extended State Observer

In this paper, a dynamic threshold global performance-guaranteed formation control method is proposed for wheeled mobile robots (WMRs). Unlike existing prescribed performance formation control methods that are constrained by initial values, we design a dynamic threshold global performance-guaranteed (DTGPG) function to address the initial value con-straints while being able to secondary adjust the steady state performance boundaries. Moreover, we design a smooth extended state observer (SESO) based on a sigmoid-like function to mitigate the chattering problem of the existing event-triggered ESO. Then a DTGPG-based guidance law and a SESO-based control law are designed to implement the formation control. The proof shows that the total closed-loop system is input-to-state stable (ISS). Through simulation, the benefits and validity of the proposed control methodology are confirmed.