In this paper the control of formations of multiple nonholonomic mobile robots is attempted by integrating a kinematic controller with a neural network (NN) computed-torque controller. 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. The NN is introduced 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 uniformly ultimately bounded, and numerical results are provided.

Meeting Name

IEEE 22nd International Symposium on Intelligent Control, 2007 (2007, Singapore)


Electrical and Computer Engineering

Second Department

Computer Science

Keywords and Phrases

Lyapunov Methods; Kinematic/Dynamic Controller; Mobile Robots; Multi-Robot Systems; Neural Network Torque Controller; Neurocontrollers; Online Weight Tuning; Robot Kinematics

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 Oct 2007