In this article, the coordination control problem of group tracking consensus is considered for networked nonholonomic mobile multirobot systems (NNMMRSs). This problem framework generalizes the findings of complete consensus in NNMMRSs and group consensus in networked Lagrangian systems (NLSs), enjoying capacious application backgrounds. By leveraging a kinematic controller embedded in the adaptive torque control protocols, a new convergence criterion of group consensus is established. In contrast to the formulation under strict algebraic assumptions, it is found that group tracking consensus for NNMMRSs can be realized under a simple geometrical condition. The system stability analysis is dictated by the property of network topology with acyclic partition. Finally, the theoretical achievements are verified by illustrative numerical examples. The results show an interesting phenomenon that, for NNMMRSs, the state responses exhibit negative correlation with the algebraic connectivity and coupling strength.

在本文中，针对网络化非完整移动多机器人系统（NNMMRS）考虑了群体跟踪共识的协调控制问题。该问题框架概括了 NNMMRS 中的完全共识和网络拉格朗日系统 (NLS) 中的群体共识的发现，具有广阔的应用背景。通过利用嵌入在自适应扭矩控制协议中的运动学控制器，建立了新的群体共识收敛标准。与严格代数假设下的公式相比，发现 NNMMRS 的组跟踪共识可以在简单的几何条件下实现。系统稳定性分析由具有非循环分区的网络拓扑特性决定。最后，通过数值例子验证了理论成果。