Finite-Time Formation Tracking Control of Multiple Nonholonomic Mobile Robots Under Control Input Constraints

This paper addresses the formation tracking control problem of multiple nonholonomic mobile robots with input saturation and external disturbances. Based on the affine input saturation model, a finite-time robust adaptive formation tracking controller is proposed for multiple nonholonomic mobile robots by combining the practical predefined-time leader-state observer, the dynamic surface control, and the Nussbaum gain function. The presented theoretical analysis demonstrates that all the follower robots are able to achieve the desired formation centred on the leader robot within finite time and maintain it continuously. The effectiveness of the proposed finite-time formation controller is verified by numerical simulations.