Distributed Resilient Formation Control of Multiple Nonholonomic Mobile Robots with Finite-Time Convergence

A distributed resilient finite-time control approach is proposed for formation control of multiple nonholonomic mobile robots with unknown actuator attacks and under directed communication topology. First, the leader's information is estimated in a finite time by introducing a distributed finite-time observer. Then, a resilient finite-time formation tracking control protocol is designed with the help of the observers, the adaptive control approach, and the input-output feedback linearization technique. Rigorous analysis is provided to demonstrate that all followers can maintain a desired geometric formation and track a leader robot within a finite time. Finally, the efficiency of the derived resilient formation control law is illustrated through a numerical example.