In this paper, a combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers that are widely reported in the literature. A multilayer neural network (NN) is introduced along with robust integral of the sign of the error (RISE) feedback to approximate the dynamics of the follower as well as its leader using online weight tuning. It is shown using Lyapunov theory that the errors for the entire formation are asymptotically stable and the NN weights are bounded as opposed to uniformly ultimately bounded (UUB) stability which is typical with most NN controllers. Simulation results are included.

Meeting Name

46th IEEE Conference on Decision and Control (2007: Dec. 10-11, New Orleans, LA)


Electrical and Computer Engineering

Second Department

Computer Science


GAANN Program
United States. Department of Education

Keywords and Phrases

Asymptotic Stability; Formation Control; Kinematic/Dynamic Controlle; Lyapunov Methods; Multi-Robot Systems; Neural Network; Neurocontrollers; RISE

Document Type

Article - Conference proceedings

Document Version

Final Version

File Type





© 2007 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jan 2007