Distributed formation control of nonholonomic mobile robots without global position measurements

Tengfei Liu, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


This paper proposes a new class of distributed nonlinear controllers for leader-following formation control of unicycle robots without global position measurements. Nonlinear small-gain design methods are used to deal with the problem caused by the nonholonomic constraint of the unicycle robot and yield simple conditions for practical implementation. With the proposed distributed controllers, the formation control objective can be achieved without assuming any tree sensing structures. More interestingly, the distributed controller is robust to position measurement errors and the linear velocities of the robots can be restricted to specific bounded ranges.

Original languageEnglish (US)
Pages (from-to)592-600
Number of pages9
Issue number2
StatePublished - Feb 2013


  • Distributed nonlinear control
  • Formation control
  • Input-to-output stability (IOS)
  • Mobile robots
  • Small-gain

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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