Finite-time formation control of multiple mobile robots

摘要

This paper studies the finite-time formation control problem for multiple nonholonomic mobile robots. By using the technique of finite-time control, a finite-time formation controller is designed. Under the proposed controller, it is shown that the states consensus or formation control can be achieved in a finite time. Numerical simulations are given for formation control of multiple wheeled mobile robots to verify the effectiveness of the proposed method.