Distributed Finite-Time Formation Control for Multiple Nonholonomic Mobile Robots

被引：0
作者：
Li, Miao [1 ,2 ]
Liu, Zhongxin [1 ,2 ]
Chen, Zengqiang [1 ,2 ,3 ]
机构：
[1] Nankai Univ, Coll Comp & Control Engn, Tianjin 300353, Peoples R China
[2] Tianjin Key Lab Intelligent Robot, Tianjin 300353, Peoples R China
[3] Civil Aviat Univ China, Coll Sci, Tianjin 300300, Peoples R China
来源：
PROCEEDINGS OF 2016 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL II | 2016年 / 405卷
基金：
中国国家自然科学基金;
关键词：
Nonholonomic mobile robot; Formation control; Distributed control; Finite-time stability; TRACKING;
D O I：
10.1007/978-981-10-2335-4_37
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, the finite-time formation control problem for a group of nonholonomic mobile robots is considered. A distributed finite-time estimator is proposed to estimate leader's state in finite time. Then, based on the estimated values of estimator, a distributed finite-time formation control law is designed. With the help of finite-time Lyapunov theory and graph theory, rigorous proof shows that the group of mobile robots can converge to desired formation pattern and its centroid can converge to the desired trajectory in finite time. Simulations are given to verify the effectiveness of the method.
引用
收藏
页码：399 / 415
页数：17
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