Globally Exponentially Stable Triangle Formation Control of Multi-robot Systems

In this paper, the problem of formation control for nonholonomic robots is investigated. Based on the negative gradient method and the Lyapunov direct method, a globally and exponentially stable control scheme for multi-robot formation control system is designed. The proposed control law using the adaptive perturbation method can guarantee the globally exponential stability of the desired triangle and line formation, and the equilibrium set of the overall system is unique, which is exactly the desired formation set. Finally, some simulations illustrate the effectiveness and correctness of the proposed controllers.