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

Figure 5

(a) The trajectories of 𝑦₀ (blue line) and the centroid of 𝑦_𝑖 (1≤𝑖≤6) (red line); (b) the position error between 𝑦₀ and the centroid of 𝑦_𝑖.

(a)

(b)