Path-Guided Finite-Time Formation Control of Nonholonomic Mobile Robots Based on an Extended State Observer

In this paper, we study the finite-time formation control problem of uncertain nonholonomic mobile robots following a parameterized path. A path-guided formation control scheme based on an extended state observer is proposed. To compensate for unmeasured velocities and disturbances simultaneously, a third-order fast finite-time extended state observer (FFTESO) is proposed. Then, a distributed formation control solution is developed to achieve the kinematic and dynamic system coordination control of the nonholonomic mobile robots. For the kinematic system control, a path-parameter-updating law is developed for a virtual leader, and the desired linear velocity and heading angle are developed for the mobile robots. For the kinetic control, an anti-disturbance control protocol is designed based on the estimated signals. The salient features of the proposed algorithms lie in that the estimations of disturbances and unmeasured velocities are achieved against the system's nonholonomic constraints, and the path following the control and cooperative control is synthesized together for path-guided formation, which reduces the complexity of the controller design. Finally, simulation studies are conducted to demonstrate the effectiveness of the proposed algorithm.