Abstract

In this paper, we deal with consensus tracking problem for nonholonomic chained-form dynamics with unknown external disturbance. Unlike many existing fixed-time consensus tracking methods, this paper considers the unknown external disturbance. Moreover, the initial state is not a factor to affect the time required to achieve consensus tracking. First, we design a distributed observer for the follower robot to estimate the target robot's state, control input and external disturbances within a fixed time. Next, a tracking protocol is designed to track the estimated state of the target robot. Finally, simulation is provided to prove that the tracking protocol is practical and correct.

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