Abstract
In this study, a new finite-time synchronised approach is developed for multiple mobile robots formation control based on terminal sliding mode control principle and system synchronisation theory. Associated stability analysis is presented to lay a foundation for analytical understanding in generic theoretical aspects and safe operation for real systems. An illustrative example of multiple mobile robots formation control is bench tested to validate the effectiveness of the proposed approach.
Acknowledgements
This work was supported by the National Nature Science Foundation of China (Grant: 61004080) and the Fundamental Research Funds for the Central Universities of China and National High Technology Research and Development Program of China (Grant: 2009AA04z138), and partly supported by the National Nature Science Foundation of China (Grant: 61074059) and National High Technology Research and Development Program of China (Grant: 2009AA04z138). The authors are grateful to the editor and the anonymous reviewers for their helpful comments and constructive suggestions with regard to the revision of this article.