Finite-Time Formation Control of Multiple Nonholonomic Mobile Robots With Input Saturation

Abstract

A finite-time formation control scheme is proposed for a team of nonholonomic mobile robots with input saturation under a directed communication graph. The leader’s information is estimated by a distributed finite-time observer. Based on the distributed finite-time observer, the adaptive control approach, the input-output feedback linearization technique, and an input saturation model, a finite-time formation tracking control scheme is proposed. Then, rigorous proof is provided to demonstrate that all follower robots can hold a desirable geometric formation in finite time while tracking a leader robot simultaneously. Ultimately, a numerical example is displayed to verify the effectiveness of the designed formation control protocol.