Leader-following consensus control of multiple nonholomomic mobile robots: An iterative learning adaptive control scheme

In this paper, the distributed iterative learning control for nonholonomic mobile robots with a time-varying reference is investigated, in which the mobile robots are with parametric uncertainties and are not fully actuated. Besides, the control gains of mobile robots are unknown. The leader is with a time-varying reference trajectory, and there is no need to assume that the time-varying reference is linearly parameterized by a set of known functions. A distributed control scheme is designed for each mobile robot based on a set of local compensatory filters designed by its neighborhood information. Stability analysis is established through a set of composite energy function. The uniform convergence of the consensus errors can be guaranteed. An example is given to show that our designed control law is effective.