Fixed-time prescribed performance consensus formation tracking control of multiple electrically driven nonholonomic mobile robots with complete unknown parameters

摘要

This paper delves into the fixed-time consensus formation problem for wheeled mobile robots (WMRs) with completely unknown parameters under prescribed constraints. By integrating the rigid body dynamics of the robot and the high-order dynamics of the drive circuit, and utilising voltage as the control input, we propose a fixed-time prescribed performance control (PPC) protocol. The controller aims to ensure that the formation error of WMRs evolves under prescribed constraints and converges to a small neighbourhood around zero within a fixed time. Furthermore, the designed adaptive laws ensure control accuracy even in scenarios where WMR parameters are unknown. Finally, the feasibility and effectiveness of the proposed controller are validated through simulations under various conditions.