@ARTICLE{Damani_Allaeddine_Yahia_Formation_2023,
 author={Damani, Allaeddine Yahia and Benselama, Zoubir Abdeslem and Hedjar, Ramdane},
 volume={vol. 70},
 number={No 4},
 journal={Archive of Mechanical Engineering},
 pages={567-587},
 howpublished={online},
 year={2023},
 publisher={Polish Academy of Sciences, Committee on Machine Building},
 abstract={In this paper, an adaptive distributed formation controller for wheeled nonholonomic mobile robots is developed. The dynamical model of the robots is first derived by employing the Euler-Lagrange equation while taking into consideration the presence of disturbances and uncertainties in practical applications. Then, by incorporating fractional calculus in conjunction with fast terminal sliding mode control and consensus protocol, a robust distributed formation controller is designed to assure a fast and finite-time convergence of the robots towards the required formation pattern. Additionally, an adaptive mechanism is integrated to effectively counteract the effects of disturbances and uncertain dynamics. Moreover, the suggested control scheme's stability is theoretically proven through the Lyapunov theorem. Finally, simulation outcomes are given in order to show the enhanced performance and efficiency of the suggested control technique.},
 type={Article},
 title={Formation control of nonholonomic wheeled mobile robots using adaptive distributed fractional order fast terminal sliding mode control},
 URL={http://www.czasopisma.pan.pl/Content/129943/PDF-MASTER/AME_2023_148700-3.pdf},
 doi={10.24425/ame.2023.148700},
 keywords={mobile robots, fractional calculus, formation control, sliding mode, consensus protokol},
}