中文摘要：

针对非完整移动机器人运动学模型的特点,并且考虑机器人之间的交互关系是局部的,提出了一种基于领航-跟随的非完整多移动机器人分布式编队控制方法。首先提出了一种分布式估计策略,为每个跟随机器人估计（虚拟）领航机器人的位置、方向、线速度等状态;接着利用每个跟随机器人的跟踪误差设计了编队控制算法;使用Lyapunov工具对算法进行了渐近稳定性和收敛性分析;最后,构建了多移动机器人视觉定位与控制实验平台,通过仿真和实验验证了所提算法的有效性。

英文摘要：

Aiming at the characteristics of the kinematic model of nonholonomic vehicle, considering that the interaction relationships among the vehicles are local, a distributed formation control algorithm for nonholonomic vehicles based on leader-follower is proposed in this paper. Firstly, a distributed estimation strategy is proposed, which estimates the states, including the position, orientation, and linear velocity of the （virtual） leader for each follower vehicle. Then, a formation control algorithm is designed based on the tracking error of each follower vehicle. An asymptotic stability and convergence analyses of the algorithm are performed using Lyapunov tools. Finally, the visual positioning and control experiment platform of multiple vehicles was constructed; and simulation and experiment results verify the effectiveness of the proposed algorithm.