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Distributed Finite-Time Formation Control for Multiple Nonholonomic Mobile Robots

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Proceedings of 2016 Chinese Intelligent Systems Conference (CISC 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 405))

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Abstract

In this paper, the finite-time formation control problem for a group of nonholonomic mobile robots is considered. A distributed finite-time estimator is proposed to estimate leader’s state in finite time. Then, based on the estimated values of estimator, a distributed finite-time formation control law is designed. With the help of finite-time Lyapunov theory and graph theory, rigorous proof shows that the group of mobile robots can converge to desired formation pattern and its centroid can converge to the desired trajectory in finite time. Simulations are given to verify the effectiveness of the method.

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Acknowledgments

This research is supported by the National Natural Science Foundation of China (Grant No.61573200,61273138), and the Tianjin Natural Science Foundation of China (Grant No.14JCYBJC18700, 14JCZDJC39300).

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Authors and Affiliations

  1. College of Computer and Control Engineering, Nankai University, Tianjin, 300353, China

    Miao Li, Zhongxin Liu & Zengqiang Chen

  2. Tianjin Key Laboratory of Intelligent Robotics, Tianjin, 300353, China

    Miao Li, Zhongxin Liu & Zengqiang Chen

  3. College of Science, Civil Aviation University of China, Tianjin, 300300, China

    Zengqiang Chen

Authors
  1. Miao Li
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  2. Zhongxin Liu
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  3. Zengqiang Chen
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Corresponding author

Correspondence to Zhongxin Liu .

Editor information

Editors and Affiliations

  1. Beihang University , Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

  4. Tsinghua University , Beijing, China

    Hongbo Li

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© 2016 Springer Science+Business Media Singapore

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Li, M., Liu, Z., Chen, Z. (2016). Distributed Finite-Time Formation Control for Multiple Nonholonomic Mobile Robots. In: Jia, Y., Du, J., Zhang, W., Li, H. (eds) Proceedings of 2016 Chinese Intelligent Systems Conference. CISC 2016. Lecture Notes in Electrical Engineering, vol 405. Springer, Singapore. https://doi.org/10.1007/978-981-10-2335-4_37

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  • DOI: https://doi.org/10.1007/978-981-10-2335-4_37

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2334-7

  • Online ISBN: 978-981-10-2335-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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