Adaptive formation control of electrically driven nonholonomic mobile robots with limited information

Bong Seok Park, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalArticlepeer-review

67 Citations (Scopus)


We present a leader-follower-based adaptive formation control method for electrically driven nonholonomic mobile robots with limited information. First, an adaptive observer is developed under the condition that the velocity measurement is not available. With the proposed adaptive observer, the formation control part is designed to achieve the desired formation and guarantee the collision avoidance. In addition, neural network is employed to compensate the actuator saturation, and the projection algorithm is used to estimate the velocity information of the leader. It is shown, by using the Lyapunov theory, that all errors of the closed-loop system are uniformly ultimately bounded. Simulation results are presented to illustrate the performance of the proposed control system.

Original languageEnglish
Article number5716689
Pages (from-to)1061-1075
Number of pages15
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number4
Publication statusPublished - 2011 Aug

Bibliographical note

Funding Information:
Manuscript received March 16, 2010; revised August 20, 2010 and November 2, 2010; accepted December 12, 2010. Date of publication February 22, 2011; date of current version July 20, 2011. This work was supported in part by the Brain Korea 21 in 2010 and in part by the Human Resources Development Program of the Korea Institute of Energy Technology Evaluation and Planning Grant 2007-P-EP-HM-E-08-0000 funded by the Korea Government Ministry of Knowledge Economy. This paper was recommended by Associate Editor W. J. Wang.

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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