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In this paper, we propose a novel formation controller for nonholonomicagents to form general parametric curves. First, we derive a unified parametricrepresentation for both open and closed curves. Then, a leader-followerformation controller is designed to form the parametric curves. We considerdirected communications and constant input disturbances rejection in thecontroller design. Rigorous Lyapunov-based stability analysis proves theasymptotic stability of the proposed controller. Detailed numerical simulationsand experimental studies are conducted to verify the performance of theproposed method.

Leader-Follower Formation Control of Perturbed Nonholonomic Agents along Parametric Curves with Directed Communication