Decentralized cooperative control of multiple nonholonomic dynamic systems with uncertainty

This paper considers feedback control of a group of nonholonomic dynamic systems with uncertainty. Decentralized cooperative controllers are proposed with the aid of Lyapunov techniques, results of graph theory, and backstepping techniques. Robustness of the control laws with respect to communication delays is analyzed. An application of the proposed results is discussed. Simulation results show the effectiveness of the proposed controllers.