Distributed output feedback consensus tracking control of multiple nonholonomic mobile robots with only position information of leader

Highlights：

• To the best of our knowledge, this is the first work to achieve fully distributed consensus tracking control for multiple nonholonomic mobile robots under directed communication topology, by using only position information of the leader.

• A fully distributed adaptive estimator is constructed to estimate the position of the leader without using the global information of the directed graphs.

• The dynamic model considered in this paper involves unknown dynamic parameters and external disturbances.

• The boundedness of all the signals in the resulting closed-loop system are ensured. The consensus tracking error of the system can converge to an adjustable neighborhood of zero by appropriately choosing design parameters.