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Mathematical Problems in Engineering
Volume 2014, Article ID 874543, 6 pages
Research Article

Formation Control of Multirobot Based on I/O Feedback Linearization and Potential Function

Key Laboratory of Advanced Control of Iron and Steel Process of Ministry of Education, School of Automation and Electrical Engineering, University of Science and Technology, Beijing 100083, China

Received 24 January 2014; Revised 30 March 2014; Accepted 3 May 2014; Published 14 May 2014

Academic Editor: Housheng Su

Copyright © 2014 Jie Dong et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Standard techniques of I/O linearization are widely applied to leader-follower approach for multirobot formation control. However general leader-follower approach cannot adapt to the environment with obstacles. Concerning that issue, a formation control method of multirobot system based on potential function is proposed in this paper, and a new control law is designed by choosing a proper potential function and employing Lyapunov stability theory, which stabilizes the formation of the multirobot system. We combine the method with a leader-follower approach to solve the problem that the latter cannot avoid obstacles. Simulation results are given to validate the method.