Prescribed-Time Containment Control for Multiple Mobile Robot Systems
针对多轮式移动机器人系统，提出一种预设时间包含控制方法，使跟随者状态在预设时间内收敛到领导者形成的凸包内，并处理未知控制增益问题。
This article investigates the prescribed-time containment control problem for multiple wheeled mobile robots (MWMRs) with unknown control gains. A novel and generalized prescribed-time stability theorem is established, significantly advancing existing frameworks and facilitating controller design. For each follower, a distributed containment observer is developed to ensure that the observer state converges precisely to the convex hull formed by multiple leaders within a prescribed time. This approach effectively transforms the containment control problem into a more tractable tracking control problem, meanwhile enabling local reconstruction of unmeasured neighbor states using available observer outputs. Then, the type-B Nussbaum function is employed to eliminate the effects of the time-varying unknown control coefficient. Based on the developed prescribed-time theorem and the time-varying parametric Lyapunov equation (PLE), the fully actuated controllers are designed for the MWMRs. It can guarantee that the containment errors converge to zero within the prescribed time. Finally, simulation results validate the effectiveness of the proposed method.