Finite‐time formation control of multiple nonholonomic mobile robots
Finite‐time formation control of multiple nonholonomic mobile robots
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DOI：
10.1002/rnc.2880
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发表时间：
2014-01
影响因子：
3.9
通讯作者：
Meiying Ou;Haibo Du;Shihua Li
中科院分区：
文献类型：
--
作者：
Meiying Ou;Haibo Du;Shihua Li
研究一类非完整移动的机器人有限时间编队控制问题。期望的编队轨迹由虚拟动态领导者表示，其状态仅对跟随者的子集可用，并且跟随者仅具有局部交互。首先，为每个跟随者提出了一个连续的分布式有限时间观测器，以估计领导者在有限时间内的状态。然后，为每个移动的机器人设计了一个连续的分布式合作有限时间跟踪控制律.严格的证明表明，该集团的移动的机器人收敛到所需的几何形成模式在有限的时间。同时，所有的机器人都能在有限的时间内跟踪期望的编队轨迹。仿真实例验证了该方法的有效性。版权所有© 2012约翰威利父子有限公司.
This paper considers finite‐time formation control problem for a group of nonholonomic mobile robots. The desired formation trajectory is represented by a virtual dynamic leader whose states are available to only a subset of the followers and the followers have only local interaction. First of all, a continuous distributed finite‐time observer is proposed for each follower to estimate the leader's states in a finite time. Then, a continuous distributed cooperative finite‐time tracking control law is designed for each mobile robot. Rigorous proof shows that the group of mobile robots converge to the desired geometric formation pattern in finite time. At the same time, all the robots can track the desired formation trajectory in finite time. Simulation example illustrates the effectiveness of our method. Copyright © 2012 John Wiley & Sons, Ltd.