Leader-following approach based adaptive formation control for mobile robots with unknown parameters

Ssurey Moon, Bong Seok Park, Yoon Ho Choi, Jin Bae Park

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


In this paper, a formation control method based on the leader-following approach for nonholonomic mobile robots is proposed. In the previous works, it is assumed that the followers know the leader's velocity by means of communication. However, it is difficult that the followers correctly know the leader's velocity due to the contamination or delay of information. Thus, in this paper, an adaptive approach based on the parameter projection algorithm is proposed to estimate the leader's velocity. Moreover, the adaptive backstepping technique is used to compensate the effects of a dynamic model with the unknown time-invariant and time-varying parameters. From the Lyapunov stability theory, it is proved that the errors of the closed-loop system are uniformly ultimately bounded. Simulation results illustrate the effectiveness of the proposed control method.

Original languageEnglish
Pages (from-to)1592-1598
Number of pages7
JournalTransactions of the Korean Institute of Electrical Engineers
Issue number8
Publication statusPublished - 2011 Aug

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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