Finite-time tracking control for multiple nonholonomic mobile robots with external disturbances and uncertainties

Abstract

In this paper, the finite-time tracking control problem for multiple nonholonomic mobile robots in the presence of external disturbances and uncertainties is investigated. First of all, the resulting tracking error system is derived. Secondly, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converge to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.