Formation Control of Multiple Nonholonomic Wheeled Mobile Robots
type: Dataset
description: This work is based on the multi-agent system / multi-vehicles. This thesis especially focuses on formation control of multiple nonholonomic mobile robots. The objective is to design suitable controllers for each robot according to different control tasks and different constraint conditions, such that a group of mobile robots can form and maintain a desired geomantic pattern and follow a desired trajectory. The leader-follower formation control for multiple nonholonomic mobile robots is investigated under the backstepping technology, and we incorporate a bioinspired neurodynamics scheme in the robot controllers, which can solve the impractical velocity jumps problem. The distributed formation control problem using consensus-based approach is also investigated. Distributed kinematic controllers are developed, which guarantee that the multi-robots can at least exponentially converge to the desired geometric pattern under the assumption of "perfect velocity tracking". However, in practice, "perfect velocity tracking" doesn’t hold and the dynamics of robots should not be ignored. Next, in consideration of the dynamics of robot with unknown parameters, adaptive torque controllers are developed such that the multi-robots can asymptotically converge to the desired geometric pattern under the proposed distributed kinematic controllers. Furthermore, When the partial knowledge of dynamics is available, an asymptotically stable torque controller has been proposed by using robust adaptive control techniques. When the dynamics of robot is unknown, the neural network controllers with the robust adaptive term are proposed to guarantee robust velocity tracking
landing page: https://theses.hal.science/tel-00864197
identifier: NNT: 2013ECLI0006
keyword: algorithmes-de-consensus
keyword: backstepping-technology
keyword: consensus-algorithms
keyword: controle-de-la-formation
keyword: controleur-adaptatif-distribue
keyword: distributed-adaptive-controller
keyword: formation-control
keyword: infoeu-reposemanticsdoctoralthesis
keyword: leader-follower
keyword: leader-suiveur
keyword: neural-network
keyword: nonholonomic-mobile-robots
keyword: reseau-de-neurones
keyword: robots-mobiles-non-holonomes
keyword: spiotherengineering-sciences-physicsother
keyword: technologie-backstepping
keyword: theses
issued: 2026-05-09T16:19:13.425394
modified: 2026-05-09T16:19:13.425399
language: en
contact point: Organization
  fn: CCSD

test_moissonnage_selune
type: Agent

Formation Control of Multiple Nonholonomic Wheeled Mobile Robots
type: Distribution
format: HTML
access URL: https://theses.hal.science/tel-00864197
issued: 2026-05-09T16:19:13.429606
modified: 2026-05-09T16:19:13.410000