The Leader/Follower formation control of mobile robots with uncertain dynamical models is investigated, and
adaptive shape tracking controllers are developed for the follower. Firstly, a kinematic shape tracking controller is presented
for the follower based on the formation equation. Then the shape tracking error equation is derived with backstepping
technology and an indirect adaptive dynamical shape tracking controller is constructed by using fuzzy systems to approximate
the uncertainties. It is proved that the tracking error of the follower is uniformly ultimately bounded. Numerical simulations
show the effectiveness of the proposed control strategies.