Formation Tracking of Unicycle Mobile Robots Using Super-Twisting

This article introduces a distributed control approach for unicycle mobile robots in a leader-follower configuration, ensuring a specific geometric arrangement on the horizontal plane. The proposed control algorithm allows the formation of the follower robots relative to the leader using a super-twisting sliding mode controller even in the presence of disturbances. This method employs a pair of sliding variables and a continuous control signal, ensuring that the sliding variables converge to zero within a finite time. The specific formulation of these sliding variables guarantees that the formation errors converge asymptotically to a bounded region around the origin.