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In this paper, the problem of controlling a group of mobile robots is considered; each one operates with the nonlinear nonholonomic under actuated dynamics. A coordinated control scheme is designed based on leader-follower(s) method to achieve prescribed formation maneuvers. This objective is fulfilled using the approach of sliding mode controller based on conditional servocompensator, which will bring the system error trajectories into a positively invariant set (boundary layer) close to thedoi:10.30684/etj.36.12a.12 fatcat:2krj2nkdnfd5pkbsdf7sgepu6a