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Distributed finite-time trajectory tracking control for multiple nonholonomic mobile robots with uncertainties and external disturbances

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Listed:
  • Meiying Ou
  • Haibin Sun
  • Shengwei Gu
  • Yangyi Zhang

Abstract

This paper investigates the distributed finite-time trajectory tracking control for a group of nonholonomic mobile robots with time-varying unknown parameters and external disturbances. At first, the tracking error system is derived for each mobile robot with the aid of a global invertible transformation, which consists of two subsystems, one is a first-order subsystem and another is a second-order subsystem. Then, the two subsystems are studied respectively, and finite-time disturbance observers are proposed for each robot to estimate the external disturbances. Meanwhile, distributed finite-time tracking controllers are developed for each mobile robot such that all states of each robot can reach the desired value in finite time, where the desired reference value is assumed to be the trajectory of a virtual leader whose information is available to only a subset of the followers, and the followers are assumed to have only local interaction. The effectiveness of the theoretical results is finally illustrated by numerical simulations.

Suggested Citation

  • Meiying Ou & Haibin Sun & Shengwei Gu & Yangyi Zhang, 2017. "Distributed finite-time trajectory tracking control for multiple nonholonomic mobile robots with uncertainties and external disturbances," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(15), pages 3233-3245, November.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:15:p:3233-3245
    DOI: 10.1080/00207721.2017.1381891
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    References listed on IDEAS

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    1. Gang Wang & Chaoli Wang & Qinghui Du & Xuan Cai, 2016. "Distributed adaptive output consensus control of second-order systems containing unknown non-linear control gains," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(14), pages 3350-3363, October.
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