[1]LI Jie,SHI Wuxi,LI Baoquan.Fixed-time formation control of multimobile robots[J].CAAI Transactions on Intelligent Systems,2023,18(6):1233-1242.[doi:10.11992/tis.202208021]
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Fixed-time formation control of multimobile robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 18 Number of periods: 2023 6 Page number: 1233-1242 Column: 学术论文—机器人 Public date: 2023-11-05
Title:
Fixed-time formation control of multimobile robots
Author(s):
LI Jie;  SHI Wuxi;  LI Baoquan
School of Control Science and Engineering, Tiangong University, Tianjin 300387, China
Keywords:
formation control; fixed-time control; leader-following; backstepping; stability analysis; mobile robot; kinematics modeling; graph theory
CLC:
TP242
DOI:
10.11992/tis.202208021
Abstract:
In order to reduce the influence of initial position on the convergence time of formation systems, a fixed-time formation control method is presented in this paper for multimobile robot systems. Based on the leader-following structure, the formation control problem of n robots is decomposed into the tracking control problem between (n-1) pairs of followers and their designated leader. In this structure, a fixed-time controller based on backstepping is designed to maintain the desired distance and angle between the followers and leader. Furthermore, the stability of the formation control system is analyzed using the Lyapunov stability theory, and the effectiveness of this method is verified through simulation and experimental results.
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