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A desired formation is achieved based on the leader\u2013follower strategy utilizing hyperbolic tangent saturation functions to reduce the risk of actuator saturation. The controller is developed by incorporating the high-gain observer and radial basis function (RBF) NNs using the inverse dynamics control technique. The high-gain observer is introduced to estimate velocities of the followers. The RBF NN preserves the robustness of the proposed controller against uncertain nonlinearities. The adaptive laws are also combined by a robust control term to estimate the weights of RBF NN, approximation errors, and bounds of unknown time-variant environmental disturbances. A Lyapunov-based stability analysis proves that all signals of the closed-loop system are bounded, and tracking errors are uniformly ultimately bounded. Finally, some simulations are carried out to show the effectiveness of the proposed controller for a number of WMRs.<\/jats:p>","DOI":"10.1017\/s026357471900047x","type":"journal-article","created":{"date-parts":[[2019,4,11]],"date-time":"2019-04-11T15:30:10Z","timestamp":1554996610000},"page":"69-87","source":"Crossref","is-referenced-by-count":18,"title":["High-Gain Observer-Based Neural Adaptive Feedback Linearizing Control of a Team of Wheeled Mobile Robots"],"prefix":"10.1017","volume":"38","author":[{"given":"Neda","family":"Sarrafan","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1799-2141","authenticated-orcid":false,"given":"Khoshnam","family":"Shojaei","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2019,4,11]]},"reference":[{"key":"S026357471900047X_ref40","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714000046"},{"key":"S026357471900047X_ref33","unstructured":"33. 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Kumar , \u201cControlling formations of multiple mobile robots,\u201d In: IEEE International Conference Robotics and Automation, vol. 4 (IEEE, Leuven, 1998) pp. 2864\u20132869."},{"key":"S026357471900047X_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2016.02.041"},{"key":"S026357471900047X_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.803458"},{"key":"S026357471900047X_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TLA.2011.5893772"},{"key":"S026357471900047X_ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2009.5246126"},{"key":"S026357471900047X_ref30","volume-title":"Nonlinear Systems","author":"Khalil","year":"2002"},{"key":"S026357471900047X_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/70.736776"},{"key":"S026357471900047X_ref24","unstructured":"24. F. Esfandiari and H. K. 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