Model-free Formation Tracking Control of Networked Robotic Systems with Input Disturbances

This paper studies the model-free formation tracking problem for networked robotic systems in the presence of bounded input disturbances. The interaction topology of the networked robotic system is assumed to contain a spanning tree. Based on distributed sliding-mode estimators aiming to estimate the information of the reference trajectory, we propose the model-free control law which can obtain the formation of the networked robotic system in the local coordinate system, and meanwhile the tracking of the geometric centre of the formation. The asymptotic stability and its sufficient condition on the control parameters are derived via the Lyapunov theory. Finally, the simulation results are provided to verify the effectiveness of the main results.