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.
ChengZZhuCShanC, et al. (2024) A novel impact angle control guidance law design via predefined time convergence theory. Aerospace Science and Technology149: 109141.
2.
DingWZhangJShiP (2024) Adaptive fuzzy control of wheeled mobile robots with prescribed trajectory tracking performance. IEEE Transactions on Fuzzy Systems32: 4510–4521.
3.
FeiYShiPLimC, et al. (2023) Finite-time observer-based formation tracking with application to omnidirectional robots. IEEE Transactions on Industrial Electronics70(10): 10598–10606.
4.
GuRHanTXiaoB, et al. (2024) Task-space tracking for networked heterogeneous robotic systems via adaptive neural fixed-time control. ISA Transactions155: 184–192.
5.
GuanHSuiSSuiY, et al. (2025) NN-based adaptive event-triggered predefined time control of flexible joint robot with full-state error constraints. Neurocomputing631: 129658.
6.
GuoZZhangJShangY, et al. (2024) Predefined-time global recursive sliding mode control for trajectory tracking of unmanned surface vehicles with disturbances uncertainties. Ocean Engineering313: 119408.
7.
HuangZPanYBauerR (2024) Edge-based communication-triggered formation tracking control with application to multiple mobile robots. IEEE Transactions on Control Systems Technology32(3): 1015–1026.
8.
JiangYZhangQHuY (2024) Fault-tolerant trajectory tracking control of underwater salvage robots based on super-twisting sliding mode. Ocean Engineering312: 119340.
9.
JinXDaiSLiangJ (2023) Adaptive constrained formation-tracking control for a tractor-trailer mobile robot team with multiple constraints. IEEE Transactions on Automatic Control68(3): 1700–1707.
10.
KumarSSoniSPalAK, et al. (2024) Nonlinear polytopic systems with predefined time convergence. IEEE Transactions on Circuits and Systems II: Express Briefs71(2): 632–636.
11.
LiMHuangTZhangJ, et al. (2025) Predefined-time sliding mode position and attitude coupling control for in-cabin robots on space stations. Advances in Space Research75(1): 737–751.
12.
LiXRenXZhangZ, et al. (2024) A varying-parameter complementary neural network for multi-robot tracking and formation via model predictive control. Neurocomputing609: 128384.
13.
LiangCGeMLiuZ, et al. (2021) Predefined-time formation tracking control of networked marine surface vehicles. Control Engineering Practice107: 104682.
14.
LiuPTongS (2024) A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems. Journal of Automation and Intelligence3(2): 111–118.
15.
LiuWWangXLiS (2023) Formation control for leader–follower wheeled mobile robots based on embedded control technique. IEEE Transactions on Control Systems Technology31(1): 265–280.
16.
Miranda-ColoradoR (2024) Observer-based finite-time control for trajectory tracking of wheeled mobile robots with kinematic disturbances. ISA Transactions148: 64–77.
17.
SaradagiAMuralidharanVKrishnanV, et al. (2018) Formation control and trajectory tracking of nonholonomic mobile robots. IEEE Transactions on Control Systems Technology26(6): 2250–2258.
18.
Sánchez-TorresJDGómez-GutiérrezDLópezE, et al. (2018) A class of predefined-time stable dynamical systems. IMA Journal of Mathematical Control and Information35(1): 1–29.
19.
TangLQuHXuZ (2022) Research on double closed-loop control strategy of contactors based on flux linkage observers. IEEE Transactions on Industrial Electronics69(3): 2769–2779.
20.
WangFMiaoYLiC, et al. (2020) Attitude control of rigid spacecraft with predefined-time stability. Journal of the Franklin Institute357(7): 4212–4221.
21.
WangJChenYGaoJ, et al. (2025) Adaptive fault tolerant control of unmanned underwater glider with predefined-time stability. Journal of the Franklin Institute362(1): 107364.
22.
WuQWangXQiuX (2024) Embedded technique-based formation control of multiple wheeled mobile robots with application to cooperative transportation. Control Engineering Practice150: 106002.
23.
XieSChenQ (2024) Predefined-time disturbance estimation and attitude control for rigid spacecraft. IEEE Transactions on Circuits and Systems II: Express Briefs71(4): 2089–2093.
24.
XuZYanTYangSX, et al. (2024) Distributed leader follower formation control of mobile robots based on bioinspired neural dynamics and adaptive sliding innovation filter. IEEE Transactions on Industrial Informatics20(2): 1180–1189.
25.
YanLMaBJiaY, et al. (2024a) Observer-based trajectory tracking control of nonholonomic wheeled mobile robots. IEEE Transactions on Control Systems Technology32(3): 1114–1121.
26.
YanZJiaZWangS, et al. (2024b) Single-phase double fundamental frequency PLL based on the multiplication stage under DQ-Axis dual closed-loop control. IEEE Transactions on Industrial Electronics71(9): 11347–11355.
27.
YaoQLiQHuangM, et al. (2024) Predefined-time trajectory tracking control of free-flying space manipulator subject to uncertainties and disturbances. Robotics and Autonomous Systems177: 104699.
28.
YeZYeZZhangD, et al. (2024) Extended state observer-based finite-time trajectory tracking control for wheeled mobile robots under FDI attacks. Journal of the Franklin Institute361(18): 107304.
29.
YinCDingYSunH (2025) Nonsingular fast predefined time convergence sliding mode control for construction robot. ISA Transactions161: 109–121.
30.
YouYYangZZhuoH, et al. (2024) Research on ground mobile robot trajectory tracking control based on MPC and ANFIS. Control Engineering Practice152: 106040.
31.
ZhangJLiZJiaoS (2024a) Formation tracking control of the traffic cone robots system under the environmental constraints. IEEE Transactions on Intelligent Transportation Systems25(9): 11130–11142.
32.
ZhangYXuZChenJ, et al. (2024b) Neural networks-based composite learning control for robotic systems with predefined time error constraints. Neurocomputing608: 128414.
33.
ZhouBWangYZiB, et al. (2024) Fuzzy adaptive whale optimization control algorithm for trajectory tracking of a cable-driven parallel robot. IEEE Transactions on Automation Science and Engineering21(4): 5149–5160.
34.
ZhuYLiuZJiangB, et al. (2024) Adaptive fixed-time fuzzy fault-tolerant control for robotic manipulator with unknown friction and composite actuator faults. Journal of the Franklin Institute361(12): 107025.
