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The past three decadeswitness a long-term intensive interest in researching a variety of control methods on wheeled mobile robots (WMRs), although the general nonholonomic systems have been investigated for more than one and half a century (Kolmanovsky & McClamroch, 1995). It is well-known that usually WMRs are characterized by non-integrable kinematic constraints, namely the nonholonomic constraints. The consequence is that those constraints rule out the possibility of direct application of standard control theories, such as linear control system theory in this field. Furthermore, as pointed out in a landmark paper (Brockett, 1983), nonholonomic systems can not be stabilized by continuously differentiable, time invariant, state feedback control laws. To cope with the challenges arising in nonhonomic system control, a great number of approaches have been proposed and some selections of the vast amount of published literature are reflected in the survey paper (Kolmanovsky & McClamroch, 1995) and the book (Dixon et al., 2001) and in chapters (7 9) of the book (Wit & Siciliano, 1996). Several controls from experiment perspectives are examined and implemented in the work (Luca et al., 2001). Central to the WMR motion control are the tracking control problems. Normally there are two categories of tracking control: posture tracking and point tracking. The former aims to achieving stably tracking a moving reference posture (i.e., position and orientation) while the latter only concerns about position tracking. Nonlinear feedback control strategies (Wit & Sordalen, 1992),(Godhavn & Egeland, 1997),(Kanayama et al., 1990),(Closkey & Murray, 1997),(Teel et al., 1995) are often favored in dealing with tracking control problem to compensate disturbances and uncertainties although open-loop control laws are also workable (Murray & Sastry, 1990),(Lafferiere & Sussmann, 1991),(Brraquand & Latombe, 1989),(Brockett, 1981). In recent years, more and more attention have been drawn to the robustness of the controller in presence of uncertainties. In (Aguiar et al., 2000), the authors address the regulation control of WMR with parametric modelling uncertainty using Lyapunov functions. A robust new Kalman-based active observer controller for path following was proposed (Coelho & Nunes, 2005) in circumstances of uncertainties and disturbances. And the paper (Dixon et al., 1999) presents a controller robust to parametric uncertainty and additive bounded disturbance in the dynamic model through the use of a dynamic oscillator. An autonomous multi-robot system comprises a group of (often homogeneous) robots, each has a certain degree of mobility and autonomy. Research interests in unmanned autonomous robots have been growing significantly in recent years, due to the potential that this type of 5

A Robust Nonlinear Control for Differential Mobile Robots and Implementation on Formation Control