轮式移动机器人预定时间领导跟随一致性控制OA北大核心CSTPCD

A predefined-time consensus control approach is investigated for the leader-following consen-sus problem of wheeled mobile robot(WMR).First,under the directed graph,a distributed ob-server is proposed for each follower to estimate the leader's state in a predefined time.Second,on the basis of the observer and a constructed double power reaching law and a nonlinear manifold,a new controller is designed to track the estimated leader state in a predefined time.Moreover,a switching protocol and a linear manifold are referenced to ensure that the controller can achieve leader-following consensus for a predefined time under any initial condition without causing singu-larity problems.The predefined time stability of the system is then proved by algebraic graph theo-ry and Lyapunov theory.Finally,simulation comparison experiments verify the proposed algorithm's effectiveness and superiority.Compared with that of the finite-time controller,the convergence time of the proposed controller is independent of the initial conditions,and the convergence effect is better.Compared with that of the fixed-time controller,the convergence time setting of the pro-posed controller is simpler,and a single parameter can directly preset the system convergence time.