Cooperative navigation control of a moving target with multiple nonholonomic wheeled mobile robots based on dynammic feedback
Qingle Zheng, Xiaojun Shi, Rui Li, Fan Yang, Hua Chen · 2019
This paper studies the Multiple nonholonomic robots tracking moving target control problem in the presence of unknown external disturbances by sliding-mode observer. A finite-time control laws and the virtual-controller-tracked technical are presented to deal with the tracking problem of moving target. The aim of the multi-robot system is to track around the moving target with a certain radius and inter-robot angular spacing. And all tracking error variables can asymptotically converge into a small neighborhood of zero by Lyapunov stability theory.