Finite-time tracking control of multiple nonholonomic mobile robots

This paper investigates finite-time tracking control problem of multiple nonholonomic wheeled mobile robots in dynamic model. First of all, the resulting tracking error dynamic is transformed into two subsystems, i.e., a third-order subsystem and a second-order subsystem for each mobile robot. Then, the two subsystems are discussed respectively, continuous distributed finite-time tracking control laws are designed for each mobile robot. Rigorous proof shows that the group of mobile robots can track the desired trajectory in finite time. Simulation example illustrates the effectiveness of our method.