Distributed finite-time coordinated control for multi-robot systems

摘要

In this paper, we study the finite-time coordinated control problems under directed topologies for multi-robot systems with general disturbances. The dynamics model of each robot is described by a Euler–Lagrange equation. When considering that only a subset of the follower robots has access to the leader information, the distributed finite-time tracking algorithm with an active leader robot is proposed. Then, we extend the tracking method to the case of containment control. Some special error functions and terminal sliding variables are defined. The finite-time convergence properties of the closed-loop systems are investigated by using a combination of matrix properties of graph theory and Lyapunov theory. Numerical examples and comparisons with other methods are provided to show the effectiveness and the performance of the proposed control strategies.