Formation tracking control for nonholonomic mobile robots with predefined time convergence

This paper investigates the formation tracking control strategy for nonholonomic mobile robots, ensuring convergence within a predefined time. To begin with, the control system is designed by leveraging the robot’s kinematic model to create two distinct control loops for position and attitude, culminating in an integrated dual closed-loop architecture. Then, based on the Lyapunov stability theory, the position subsystem and the attitude subsystem of the system have been verified to maintain stability within a predefined time. Finally, through MATLAB numerical simulation examples, the feasibility of the proposed mobile robots formation control scheme is demonstrated, further confirming the effectiveness of the algorithm and achieving control within the predefined time.