Thesis

The design and implementation of centralized control for formation control and trajectory tracking for a multi-agent system consisting of differential traction ground mobile robots was carried out. The analysis of the kinematic models of non-holonomic and holonomic types, respectively, is presented. A functional methodology for designing and constructing mobile robots is presented. In the second instance, different low-order controllers of PI type were designed for the velocity control of the individual robot to design later and implement controllers for position and trajectory tracking individually. Finally, the stability analysis of the formation is presented using the Lyapunov theory. All the aforementioned were validated computationally and experimentally.