Grey Estimator-Based Tracking Controller Applied to Swarm Robot Formation

Mobile robots are widely used in many applications, while various types of mobile and their control researches have been proposed literature. Since swarm higher flexibility capacity for teamwork, this paper presents a grey estimator-based tracking controller formation trajectory robots. First, wheel-type modeled the design. Then, dynamic estimator is developed to estimate environmental disturbance model uncertainty linear feedback compensation. As result, asymptotic assured, so that application on robot achieved multi-agent system. The computational complexity slightly reduced by Finally, order verify reliability formation, several maintained linearization controller.