Formation control of multiple nonholonomic unicycles using adaptive perturbation method

In this paper, a feedback control strategy is proposed for driving a system of multiple nonholonomic unicycles to the desired minimally rigid formation in terms of the relative position measurement. The proposed control law is based on the adaptive perturbation method, and it can guarantee that the equilibrium set corresponding to the desired formations is almost globally asymptotically stable. Simulation results are provided to illustrate the effectiveness of the control algorithm.