Distributed Adaptive Formation Control of Perturbed Nonholonomic Unicycles

A distributed adaptive formation control problem with unknown bounded disturbances for nonholonomic uni-cycles is studied in this paper. Using the adaptive method, the unknown disturbance can be estimated. Furthermore, the perturbed navigation function method is introduced to design an adaptive formation control law. The proposed formation control strategy can guarantee the convergence to the desired formation-shape and the collision avoidance between any two communicating unicycles. Finally, the simulation results are given to show the effectiveness of the proposed formation control algorithm.