The paper is devoted to the leader–follower approach for multiple mobile robots control and its experimental verification. The formation control of mobile robots is motivated by the concept of virtual leader tracking, which is enhanced by the collision avoidance between the robots proposed in our previous work. The effectiveness of this approach was verified through realisation of experiments with use of MTracker mobile robots. The OptiTrack vision system was used for robots localization. Software part with control algorithms and communication was prepared with use of the Robot Operating System.

This paper is focused on a distributed control of fully actuated manipulators under operating conditions when dynamic couplings between their joints are insignificant. The main research aspect was to examine the influence of the inertia parameter on the tracking quality for control systems based on the active rejection paradigm. The theoretical description and preliminary hypothesis were supported by extensive simulation and experimental results. In particular, it is demonstrated that choosing the inertia parameter according to the real dynamics properties does not guarantee the best performance of the considered control structures.