Distributed Fixed-Time Control for Leader-Steered Rigid Shape Formation With Prescribed Performance
提出一种基于刚体运动学的多机器人编队框架，通过分布式控制协议实现刚性几何形状的平移和旋转，并保证编队运动与领导者一致，适用于非完整约束的机器人系统。
Resorting to the principle of rigid body kinematics, a novel framework for a multirobot network is proposed to form and maintain an invariant rigid geometric shape. Unlike consensus-based formation, this approach can perform both translational and rotational movements of the formation geometry, ensuring that the entire formation motion remains consistent with the leader. To achieve the target formation shape and motion, a distributed control protocol for multiple Euler-Lagrange robotic vehicles subject to nonholonomic constraints is developed. The proposed protocol includes a novel prescribed performance control (PPC) algorithm that addresses the second-order dynamics of the robotic vehicles by employing a combination of nonsingular sliding manifold and adaptive law. Finally, the effectiveness of the proposed formation framework and control protocol is demonstrated through the numerical simulations and practical experiments with a team of four robotic vehicles.