Neuro-Adaptive Cooperative Tracking Rendezvous of Nonholonomic Mobile Robots

Peifen Lu, Simone Baldi*, Guanrong Chen, Wenwu Yu

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

8 Citations (Scopus)
39 Downloads (Pure)


This brief proposes a neuro-adaptive method for the unsolved problem of cooperative tracking rendezvous of nonholonomic mobile robots (NMRs) subject to uncertain and unmodelled dynamics. A hierarchical cooperative control framework is proposed, which consists of a novel distributed estimator along with local neuro-adaptive tracking controllers. Rigorous stability analysis as well as simulation experiments illustrate the proposed method.

Original languageEnglish
Pages (from-to)3167-3171
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Issue number12
Publication statusPublished - 2020

Bibliographical note

Accepted Author Manuscript


  • cooperative rendezvous
  • distributed estimator
  • neuro-adaptive control
  • Nonholonomic mobile robot


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