Robust Control for Multi-Model Planar Robots Coordination

This paper proposes a robust control for the coordination of planar mobile robots based on Zero-Sum uncertain differential game model. The parameters describing the dynamics of the individual robots depend on a vector of unknown parameters, which belongs to a finite parametric set, and the solution is given in terms of the worst-case scenario. Each robot control input is associated with the worst or least favourable value of the unknown parameter. Based on the concept of robust optimality, a closed form for the robust control is provided. In the proposed coordination scheme one of the robots takes the leader role following a prescribed trajectory while the others agents follow him in a robust way. A numerical example is provided to illustrate effectiveness of the approach.