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In this work, we report a novel controller to solve (globally) the  position  and  orientation  consensus-based formation problem of multiple nonholonomic vehicles modelled as differential drive robots affected by external disturbances. The controller has the structure of a simple to implement Proportional Integral Derivative (PID) scheme. In order to satisfy the well-known Brocket stabilisation theorem for nonholonomic systems, we also incorporate a time-varying persistency of excitation term in the angular velocity dynamics. Our proposal reports the first solution to the robust formation problem using a smooth time-varying controller. Simulations are shown to evidence the theoretical findings of this work.

Robust PID consensus-based formation control of nonholonomic mobile robots affected by disturbances