Finite‐time formation control of multiple nonholonomic mobile robots

Abstract

SUMMARYThis paper considers finite‐time formation control problem for a group of nonholonomic mobile robots. The desired formation trajectory is represented by a virtual dynamic leader whose states are available to only a subset of the followers and the followers have only local interaction. First of all, a continuous distributed finite‐time observer is proposed for each follower to estimate the leader's states in a finite time. Then, a continuous distributed cooperative finite‐time tracking control law is designed for each mobile robot. Rigorous proof shows that the group of mobile robots converge to the desired geometric formation pattern in finite time. At the same time, all the robots can track the desired formation trajectory in finite time. Simulation example illustrates the effectiveness of our method. Copyright © 2012 John Wiley & Sons, Ltd.

Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

“…whereū 1i , g 31 are defined as (12) and (13c),z 0i andz 1i are the estimates of x 3i and ω r d 1i , respectively, L 2i is an upper boundary of…”

“…Apart from this advantage, finite-time control system has other good point: faster convergence, better robustness [1,9,15,24,33,30]. For the tracking control problem of nonholonomic mobile robot systems, some finite-time control laws have been proposed [12,23,25,31]. The authors of [31] proposed finitetime tracking controller for the nonholonomic systems with extended chained form, where the relay switching technique and the terminal sliding mode control scheme with finite time convergence were used to design the controller.…”

“…In [23], finite-time tracking control problem of multiple nonholonomic wheeled mobile robots in dynamic model was investigated, and finite-time tracking control laws were designed for each mobile robot. The authors of [12] discussed finite-time formation control problem for a group of nonholonomic mobile robots, where the desired formation trajectory was represented by a virtual dynamic leader, finite-time observer was proposed for each follower to estimate the leader's states and finite-time tracking control law was designed for each mobile robot. However, all these above papers don't consider external disturbances in robot system models.…”

Circular Formation Control of Multiagent Systems with Any Preset Phase Arrangement

“…Imitating the collective behaviors that occur in nature, the distributed control of multiagent systems (MAS), such as multiple autonomous underwater vehicles (AUVs) and unmanned aerial vehicles (UAVs) [1][2][3], has attracted a great deal of attention in control and robotic communities [4,5] and has been extensively explored with different settings, including consensus [6], formation control [7,8], flocking [9], distributed sensor networks [10], rendezvous [11], and source seeking [12,13], through coordinating multiple autonomous mobile agents.…”

Robust control for robotic manipulators with non-smooth strategy

“…Non-smooth control such as sliding mode control (Utkin et al, 2009;Zhao et al, 2009) and finite time control Li et al, 2011;Ou et al, 2012;Zhao et al, 2010) have strong robustness. In light of Lyapunov redesign and non-smooth control principles, a new robot non-smooth robust control is proposed in this paper.…”