Formation tracking control of nonholonomic chained form systems

Formation tracking control problem for multiple nonholonomic chained form systems are considered in this paper. In the framework of virtual structure, the formation keeping problem between chained-form agents are treated as tracking problem between the virtual agent and the actual agent. Theories from nonautonomous cascaded systems are introduced to simplify the design of formation controllers after carefully studying the structure of the error dynamic systems and global exponential controllers are constructed for the the above cooperative control problems in the end. Simulation results using Matlab show the feasibility of solving the formation tracking problems using methodology presented in this paper.