Distributed Finite-Time Formation Control of Multiple Mobile Robot Systems Without Global Information

Abstract

Dear Editor, This letter considers the formation control of multiple mobile robot systems (MMRS) that only relies on the local observation information. A new distributed finite-time observer is proposed for MMRS under directed graph to estimate the relative information between each follower robot and the leader robot. Then the formation control problem is transformed into the tracking problem and a finite-time tracking controller is proposed based on the robot model feature.