Distributed exponentially tracking control of multiple wheeled mobile robots

Abstract

In this paper a consensus problem is considered for leader-following of multiple wheeled mobile robots. Laplacian matrix is introduced to characterize the communication topology. Since there are parameter uncertainties for each mechanical system, adaptive control method is applied for controller design of the dynamical systems. Distributed adaptive state feedback control laws are presented with the aid of the agent's neighboring information. Simulation results are presented to validate the proposed control laws.