Distributed manipulation systems typically consist of a large number of identical actuators, which interactively move an object or objects with a control strategy. The goal of most of the distributed manipulation systems is precise positioning of planar objects from arbitrary initial configurations. In this thesis, first, the dynamics of a manipulation system consisting of n distributed actuators is studied. Modeling of these systems is difficult, partly because the dynamics of the system is both nonsmooth and indeterminate. These indeterminacies are resolved by some reasonable assumptions, evaluated and substituted for the specific case of four wheels. After the dynamic analysis of the system, there are some discussions about the controller type to be used. The advantages and disadvantages of fuzzy controllers are investigated in comparison with conventional ones and finally, the details of fuzzy controller design are studied and its parameters selected. For selection of these parameters position control, position and orientation control, and object control in trajectory tracking are studied separately for the wheels having single degree and two degrees of freedom. For assessment of theoretical results in practice, a laboratorial set has been designed and manufactured. The software and hardware structure of this system and the place of each of these components in the overall system functioning is illustrated and their advantages and disadvantages are studied. Moreover, some explanations are given about the precision of system parameters’ measurement by image processing system on the object control. The comparison between the practical tests and software simulations constitutes the final part of works undertaken in this thesis. This comparison is carried out for the case of position control and trajectory tracking and similarities and differences between their diagrams are investigated. Finally, the results are summarily stated and some offers are made about the further studies of these systems and control parameters’ optimization in the case of manufactured laboratorial set.