Adaptive Predefined‐Time Formation Control for Multi‐Omnidirectional Mobile Robot Systems With Output Constraints

摘要

ABSTRACT This article investigates the problem of adaptive predefined‐time formation control for multi‐omnidirectional mobile robot systems (MOMRSs) with output constraints. First, a multi‐omnidirectional mobile robot (OMR) formation control model with unknown nonlinear dynamics is developed based on the kinematic analysis of OMR. Then, the radial basis function neural networks (RBF‐NNs) are used to approximate the unknown nonlinear dynamics, and a barrier Lyapunov function (BLF) is introduced to address the issue of output constraints. Additionally, this study constructs a special predefined‐time filter to reduce computational complexity. In the framework of the backstepping recursion technique, a predefined‐time formation control strategy combining the dynamic surface control (DSC) technique and the theory of predefined‐time stability is proposed, which ensures that all signals in the closed‐loop system are stabilized for a predefined time while satisfying the output constraints. Finally, the simulation results verify the effectiveness of the proposed method.