LAUSR

The finite-time coordinated circumnavigation problem for multiple non-holonomic robots is investigated in this paper. All robots are required to be evenly circled a target, and orbited around it with prescribed radius and circular velocity. First, a finite-time control law is designed by backstepping rendering each robot to circumnavigate the target. Subsequently, an additional finite-time consensus control protocol is developed for the uniform distribution sub-objective. Finally, the synthesized controller comprising of the aforementioned control law and the consensus control protocol enables all robots to converge to the desired trajectory with equiangular separations in finite time. Numerical simulations illustrate the effectiveness of the proposed method.