Distributed adaptive control of mobile robots with unknown parameters

In this paper, formation control problem of second-order mobile robots with uncertain model and reference trajectory parameters is investigated. It is assumed that the multiagent systems have the same structure of each subsystem, but the the model parameters are different and unknown, and only some of the systems can obtain the desired trajectory information. For this system, the communication topology of the system is represented by a directed graph, and the local consistency error is introduced. Based on the backstepping method, parameter estimators are designed, which estimate the unknown parameters in the model and the desired trajectory based on limited information, and the adaptive controller is also designed which achieves asymptotically tracking of the robot for the desired trajectory. Finally, the formation control of the multi-agent systems on the desired trajectory is realized through simulation, and the feasibility and effectiveness of the control strategy are verified.