IEEE Trans Neural Netw Learn Syst. 2017 Dec;28(12):2998-3006. doi: 10.1109/TNNLS.2016.2610140. Epub 2016 Oct 4.
The consensus problem of multiple nonholonomic mobile robots in the form of high-order chained structure is considered in this paper. Based on the model features and the finite-time control technique, a finite-time cooperative controller is explicitly constructed which guarantees that the states consensus is achieved in a finite time. As an application of the proposed results, finite-time formation control of multiple wheeled mobile robots is studied and a finite-time formation control algorithm is proposed. To show effectiveness of the proposed approach, a simulation example is given.
本文研究了高阶链式结构形式的多非完整移动机器人的一致性问题。基于模型特点和有限时间控制技术，明确构建了有限时间协同控制器，保证了状态一致性在有限时间内达成。作为所提出结果的应用，研究了多轮式移动机器人的有限时间编队控制问题，并提出了一种有限时间编队控制算法。为了展示所提出方法的有效性，给出了一个仿真示例。
