中文摘要：

为实现异构轮式移动机器人的混合编队控制,在领航跟随者的结构框架下,分析差动和车式两种移动机器人的运动学模型,建立混合结构的轮式移动机器人编队系统的运动学模型,采用输入输出反馈线性化的方法,设计相应控制器,验证该控制器在特定情况下的内动态稳定性。分别在MATLAB软件平台和自主研发的多轮式移动机器人硬件平台上进行三角形编队控制实验,得到了预期的结果,验证了该设计方法的可行性和有效性。

英文摘要：

To achieve hybrid formation control of mobile robots with different kinds of structures,the kinematic equations of carlike mobile robots and mobile robots with differential rear wheels were analyzed within the structure of leader-follower.The kinematic equation of hybrid formation system was constructed.A controller was designed with input-output feedback linearization.The internal dynamics of the formation system were also verified to be stable in a particular situation.The triangle formation control was tested with both MATLAB simulation and independent developed mobile robots hardware platform.The results show the feasibility and effectivity of this design method.