title: Distributed Finite-Time Cooperative Control of Multiple High-Order Nonholonomic Mobile Robots.
abstract: The consensus problem of multiple nonholonomic mobile robots in the form of high-order chained structure is considered in this paper. Based on the model features and the finite-time control technique, a finite-time cooperative controller is explicitly constructed which guarantees that the states consensus is achieved in a finite time. As an application of the proposed results, finite-time formation control of multiple wheeled mobile robots is studied and a finite-time formation control algorithm is proposed. To show effectiveness of the proposed approach, a simulation example is given.
authors.forename: Haibo
authors.initials: H
authors.lastname: Du
authors.forename: Guanghui
authors.initials: G
authors.lastname: Wen
authors.forename: Yingying
authors.initials: Y
authors.lastname: Cheng
authors.forename: Yigang
authors.initials: Y
authors.lastname: He
authors.forename: Ruting
authors.initials: R
authors.lastname: Jia