Distributed Finite-Time Cooperative Control of Multiple High-Order Nonholonomic Mobile Robots.
basic_science · Level V
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- Record sourced from PubMed, PMID 28113525.
- Also identified by DOI 10.1109/TNNLS.2016.2610140.
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Abstract
The consensus problem of multiple nonholonomic mobile robots in the form of high-order chained structure is considered in this paper. Based on the model features and the finite-time control technique, a finite-time cooperative controller is explicitly constructed which guarantees that the states consensus is achieved in a finite time. As an application of the proposed results, finite-time formation control of multiple wheeled mobile robots is studied and a finite-time formation control algorithm is proposed. To show effectiveness of the proposed approach, a simulation example is given.