摘要：AbstractThis paper proposes a dynamic controller for a swarm of unicycle robots following a desired trajectory and maintaining a prescribed formation. Furthermore, a comparison of the proposed dynamic controller versus a traditional static feedback controller is presented.The stability analysis of the closed loop system is determined by using the Lyapunov stability theory and the theoretical results are numerically illustrated. Also a comparison in terms of energy, between the proposed dynamic controller and the classical static feedback controller is provided.
