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Abstract:
This paper studies the distributed fixed-time formation tracking problem of multiple nonholonomic wheeled mobile robots system over directed fixed and switching topologies. Through a classical nonlinear transformation, the formation control problem is transformed into a consensus problem. New control protocols based on a distributed observer are proposed. The directed communication topology between multiple nonholonomic wheeled mobile robots is considered. Some sufficient conditions of multiple robots achieving the desired formation shape are given. All follower robots can form the desired formation shape within a fixed settling time and make the leader in the geometric center of the formation. By adopting graph theory and fixed-time stability theory, an upper bound of settling time that is independent of the system’s initial states is obtained. Finally, two examples are presented to illustrate the correctness of the main results.
