Formation control of multiple wheeled mobile robots with uncertainty

This paper considers formation control of a group of wheeled mobile robots with uncertainty. Decentralized cooperative controllers are proposed in two steps. In the first step, cooperative control laws are proposed for multiple kinematic systems with the aid of results from graph theory such that a group of robots comes into a desired formation. In the second step, cooperative control laws for multiple uncertain dynamic systems are proposed with the aid of backstepping techniques and the passivity properties of the dynamic systems such that the group of robots comes into the desired formation. Simulation results show effectiveness of the proposed controllers.