MOE Key Laboratory of Image Processing and Intelligence Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China
MOE Key Laboratory of Image Processing and Intelligence Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China
Key Laboratory of Spectral Imaging Technology CAS, Xi’an Institute of Optics and Precision Mechanics, Chinese Academy of Science, Xi’an, China
This paper investigates the leader-following formation tracking problem (FTP) for multiple nonholonomic agent systems (MNASs) in the presence of external disturbances and parametric uncertainties, where both the kinematics and dynamics of the agents are taken into consideration. A novel finite-time distributed controller-estimator algorithm (DCEA) is designed to handle such a challenging problem. Based on Lyapunov stability method, the sufficient conditions for finite-time stability of the closed-loop system are derived. Finally, the simulation results are presented to demonstrate the effectiveness and the robustness of the proposed DCEA.
