This article investigates the leader‐following formation control of multiple uncertain nonholonomic wheeled mobile robots. The leader trajectory can be any sufficiently smooth signal, either feasible or nonfeasible. This includes but not limited to a fixed point, a trimming trajectory, and the one that does not satisfy the nonholonomic constraint as robots in question do. To compensate for the effects that only a subset of follower robots has connected to the leader, we develop a distributed observer to estimate the leader's position and velocities. Using leader's estimated states, we convert formation errors into an augmented system with external oscillator states, which introduce an additional control variable and overcome the difficulties caused by underactuation. Subsequently, an adaptive tracking control law dealing with model uncertainties and stabilizing the augmented system is proposed, ensuring that formation errors are globally uniformly ultimately convergent to arbitrarily small balls near the origin. Simulation results are performed to validate the proposed control design.

中文翻译：

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多个非完整轮式移动机器人的自适应实用前导跟随编队控制

本文研究了多个不确定的非完整轮式移动机器人的领导者跟随编队控制。前导轨迹可以是任何足够平滑的信号，可行或不可行。这包括但不限于固定点，修整轨迹，以及不满足相关机器人的非完整约束的机器人。为了补偿只有一部分跟随者机器人连接到领导者的影响，我们开发了一个分布式观察器来估计领导者的位置和速度。使用领导者的估计状态，我们将地层误差转换为具有外部振荡器状态的增强系统，从而引入额外的控制变量并克服了驱动不足所带来的困难。后来，提出了一种处理模型不确定性并稳定增强系统的自适应跟踪控制定律，以确保编队误差在全球范围内最终统一收敛到原点附近的任意小球。仿真结果被执行以验证所提出的控制设计。