Adaptive formation tracking control for nonholonomic multi-robot systems under performance constraint

This paper investigates the leader-follower adaptive formation control problem for underactuated nonholonomic mobile robots with unknown nonlinear dynamics. Fuzzy logic systems (FLSs) are employed to approximate the unknown nonlinear dynamics. By adopting the prescribed performance control (PPC) technique, the performance constraint conditions are established to guarantee both transient and steady-state performance on the formation tracking errors, while ensuring collision avoidance. To address the underactuated control problem, a transverse function is utilized to realize the independent tracking in the longitudinal and lateral directions. Under the backstepping design framework, a novel decentralized adaptive fuzzy formation control scheme is developed. Applying Lyapunov stability theory, the proposed control scheme can guarantee that all signals in the closed-loop system are bounded. Finally, the simulation results are provided to illustrate the effectiveness of the proposed control approach and theory.