Output Feedback-based Finite-time Containment Control of Mobile Robots

The nonholonomic constraints are challenges for the control of the mobile robots, especially when there are unknown external disturbances and unmeasured velocities. For the case when the velocities cannot be measured directly and there are unknown external disturbances at the dynamic level, some coordinate transformation is utilized skillfully to design the finite-time extended state observers in this paper. Then, two output feedback-based finite-time containment controllers using the backstepping control strategy are proposed to drive the mobile robots converge to the convex hull spanned by the virtual leaders. In addition, rigorous proofs are also presented to prove the conclusion. Finally, the effectiveness of the proposed control protocols are verified by the simulation results.