Direct adaptive formation control of multiple mobile robots using hierarchical fuzzy systems

The Leader/Follower formation control of mobile robots with uncertain dynamical models is investigated in this paper and adaptive shape tracking controller is developed for the follower. Firstly, a kinematic shape tracking controller is presented based on the formation equation, then the shape tracking error equation is derived with backstepping technology and a direct adaptive dynamical shape tracking controller is constructed by using hierarchical fuzzy systems (HFSs) to approximate the uncertainties. It is proved that both shape tracking errors of the follower and adaptive parameters of the HFSs are uniformly ultimately bounded (UUB). Numerical simulations demonstrate the effectiveness of the proposed control strategies.