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| The Finite Time Consistency Control of Multi-Robot Systems Based on Leader-Following Systems Based on Leader-Following |
| SUN Yujiao, YANG Hongyong, YU Meiyan
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| School of information and electrical engineering, Ludong University, Yantai 264025,China |
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Abstract In the application of artificial intelligence, the cooperation of multi robots can solve complex problems in practical engineering and become the research hotspot. In this paper, an input-constrained finite-time consistency algorithm is proposed to solve the formation control problem of nonholonomic mobile robots. By using the analysis tools such as algebraic graph theory, modern control theory and matrix theory, the formation problem of multi-robot system is transformed into the path tracking problem by introducing the virtual navigator. It is proved that the multi-robot system can realize the finite time convergence under the condition of input saturation. And the sufficient condition is obtained in finite time. Finally, the effectiveness of the proposed algorithm is verified by computer simulation.
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Received: 27 April 2020
Published: 21 December 2020
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