Abstract
This article studies the prescribed-time formation control for wheeled mobile robots within the leader-following consensus framework under directed topology. A time-varying prescribed-time super-twisting extended state observer is constructed for each robot to estimate the total disturbance of its dynamics. Different from the traditional active disturbance rejection control, the total disturbance is allowed to contain some nonsmooth component. Based on it, a formation control method with prescribed-time convergence is developed for the follower to realize the formation. The effectiveness of the proposed approach is demonstrated through two experiments.
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