Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

摘要

summary:This paper investigates finite-time tracking control problem of multiple nonholonomic mobile robots in dynamic model with external disturbances, where a kind of finite-time disturbance observer (FTDO) is introduced to estimate the external disturbances for each mobile robot. First of all, the resulting tracking error dynamic is transformed into two subsystems, i. e., a third-order subsystem and a second-order subsystem for each mobile robot. Then, the two subsystem are discussed respectively, continuous finite-time disturbance observers and finite-time tracking control laws are designed for each mobile robot. Rigorous proof shows that each mobile robot can track the desired trajectory in finite time. Simulation example illustrates the effectiveness of our method.