Formation control of multiple nonholonomic mobile robots

Formation tracking control problem of multiple nonholonomic mobile robots is considered in this paper. Previous tracking control results of single nonholonomic mobile robots are extended to solve the formation tracking control of multiple nonholonomic mobile robots. By using the theory of cascaded systems and cooperative control of linear agents, formation tracking control problem is converted into multi-linear time-varying systems' stabilization problem. Under some persistent excitation condition on the virtual leader, linear cooperative controllers are constructed for the formation tracking control problem. Simulation results using Matlab validates the theoretic results.