Vision-Based Fixed-Time Platoon Formation Control of Multi-Agent Systems

Abstract

This paper presents an adaptive fixed-time formation control of nonholonomic mobile robots subject to limited sensing capability. A fixed-time cooperative control method is considered since it can provide the stability of the closed-loop system and guarantee convergence time of system trajectories independently on initial conditions. In addition, performance constraints are introduced in control strategy, imposed on formation tracking errors to guarantee the transient and stead-state performance. Furthermore, connectivity maintenance and collision avoidance are fully taken into account to prevent multi-agent systems deterioration. Consequently, the barrier Lyapunov function is incorporated into formation controller design such that under the proposed control method, the formation tracking errors can converge into a small neighbourhood of zero in fixed settling time even though the feedback signals are only the relative distance and bearing angle. Simulation results demonstrate the effectiveness of the proposed formation controller.