Observer-based Finite-time Tracking Control for Formations of Mobile Robots
This paper considers the finite-time control design for the nonholonomic mobile robots to construct leader following formation.In the formation,only the pose of the leader robot can be obtained by the follower.Firstly,the leader-following formation is transformed into a special trajectory tracking problem and a finite-time observer is designed to estimate the leaders dynamics.Then,neural network-based finite-time control laws are designed for the following robot to track the leader robot in the desired separation and bearing in finite time.Lyapunov-based theory analysis and simulation results are presented to illustrate the efficiency of the designed finite-time observer and the formation control law.
Leader-following formation Neural network observer Finite-time control Mobile robots
Tairen Sun Xin Yu Guohai Liu
School of Electrical and Information Engineering,Jiangsu University,Zhenjiang,212013,China
国际会议
长沙
英文
3675-3680
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）