Fixed-time tracking control for multiple nonholonomic mobile robots based on visual servoing

摘要

The problem of fixed-time tracking control for multiple nonholonomic mobile robots systems is studied, where a camera with uncalibrated parameters is used to measure the status of each robot. By employing graph theory, fixed-time stability theory, adding a power integrator technique and Lyapunov stability analysis, a novel type of fixed-time controller is proposed for each mobile robot, and the control schemes can make the tracking errors of each robot converge to zero within fixed time. The convergence time obtained in this paper is independent of initial conditions of the whole system, this control method is more practical in some situations. In the end, some simulation examples are presented to illustrate the effectiveness of the proposed method.