Abstract
This paper studies the distributed fixed-time formation tracking problem of multiple nonholonomic wheeled mobile robots system over directed fixed and switching topologies. Through a classical nonlinear transformation, the formation control problem is transformed into a consensus problem. New control protocols based on a distributed observer are proposed. The directed communication topology between multiple nonholonomic wheeled mobile robots is considered. Some sufficient conditions of multiple robots achieving the desired formation shape are given. All follower robots can form the desired formation shape within a fixed settling time and make the leader in the geometric center of the formation. By adopting graph theory and fixed-time stability theory, an upper bound of settling time that is independent of the system’s initial states is obtained. Finally, two examples are presented to illustrate the correctness of the main results.
Highlights
Cooperative control of multiple robots has been greatly concerned over the past few years and nonholonomic wheeled mobile robots were widely used
The control goal of this paper is to propose suitable velocity vj(t) and angular velocity ωj(t), j = 1, ..., m, such that the m followers achieve a desired formation shape F
This paper studies the distributed fixed-time formation tracking based on distributed observer for multiple nonholonomic wheeled mobile robots over directed topology
Summary
Cooperative control of multiple robots has been greatly concerned over the past few years and nonholonomic wheeled mobile robots were widely used. The formation control of multi-robot systems can achieve many intricate tasks like target tracking, security and military operations, which can not be achieved by only one robot [1]–[4]. There are many ways to keep the formation shape, such as leader-follower [5]–[7], behaviour-based [8], [9], and virtual structure [10], [11]. Consensus-based control method has been adopted to achieve the formation tracking control of multi-robot systems. The convergence speed is a vital performance index for the formation tracking control. Most prior studies did not consider the convergence speed, which indicated that the formation shape
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