1.
IEEE Trans Neural Netw Learn Syst
; 28(12): 2998-3006, 2017 12.
Article
in English
| MEDLINE
| ID: mdl-28113525
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.