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Mathematical Problems in Engineering
Volume 2014, Article ID 670497, 12 pages
Research Article

Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

1School of Transportation Science and Engineering, Beihang University, Beijing 100191, China
2Department of Mathematics, Beijing Jiaotong University, Beijing 100044, China
3LAGIS UMR 8219 CNRS, Ecole Centrale de Lille, 59651 Villeneuve d’Ascq, France

Received 17 December 2013; Accepted 10 March 2014; Published 4 May 2014

Academic Editor: Quang Phuc Ha

Copyright © 2014 Zhaoxia Peng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.