Observer Based Trajectory Tracking for a Leader-Follower Scheme

In this paper, the design of state observer control strategy for the formation following of pair of differential robots using leader-follower scheme is presented. The mathematical model of the mobile robots is constructed from kinematic extension. The non-measurable states of system are estimated by means of Luenberger-type state observers. This proposal is based on enabling a robot follower to maintain a predefined formation with respect to a robot leader. The task of the leading robot is to follow a pre-established by the user trajectory. The theoretical results are numerically and experimentally validated.