Adaptive leader-follower formation control of mobile robots following arbitrary reference trajectories

We address the problem of leader-follower formation control of nonholonomic vehicles with parametric uncertainty. The controller that we propose applies to diverse kinds of reference trajectories, including set-point stabilisation, persistently-exciting trajectories, and converging ones and ensures uniform global asymptotic stability in closed loop. In particular, for the first time in the literature, we establish uniform convergence of the parameter estimation errors in such context. Also, some original simulation results illustrate our theoretical findings.