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

Figure 6

(a) The tracking error 𝑢_𝑤𝑖 for (1≤𝑖≤6) using the torque controller (45); (b) the tracking error 𝑢_𝑣𝑖 for (1≤𝑖≤6) using the torque controller (45).

(a)

(b)