Finite-Time Formation Tracking Control for Tractor-Trailer Unmanned Ground Vehicle System with Multiple Constraints

This paper studies the problem of finite time (FT) formation tracking control for a group of multiple tractortrailer unmanned ground vehicles (UGVs) systems with multiple constraints. A tractor-trailer UGV system includes an unactuated trailer UGV and an actuated tractor UGV. Firstly, the FT theory is introduced, which not only increases efficiency but also ensures the expected system performance. At the same time, the constraints of safe, accuracy, and feasibility are satisfied during the operation process. In addition, considering the limitations of the field of view and communication distance of UGVs, universal barrier functions are used to design controller. The multiple constraints and FT stability theory are used in this paper, which not only can guarantee the stability of the system, but it can also ensure that all signals are uniformly ultimately bounded. Ultimately, the feasibility of the proposed FT formation control scheme for a group of tractor-trailer UGVs systems is proved through simulation results.