Abstract
In this paper, finite-time distance-based formation maneuvering control of a non-holonomic wheeled mobile robot multi-agent system in a leader-follower configuration is considered. The desired formation graph is assumed to be minimally and infinitesimally rigid, and only a subset of agents has access to the relative position and velocity of the leader. A distributed velocity estimator is employed by each agent to estimate the leader’s velocity and therefore the swarm velocity in finite-time. A finite-time formation maneuvering algorithm is presented and it is proved that drives the agents to the desired formation and tracks the leader’s velocity in finite-time. Moreover, it is demonstrated that both the velocity estimator and the controller can be implemented in the agents’ local coordinate frames. Simulations are provided to illustrate the effectiveness of the proposed algorithms.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
