Adaptive Predefined-Time Collision-Free Control for Multi-Omnidirectional Mobile Robot Systems

In this paper, a collision-free predefined-time adaptive formation control method is proposed for multi-omnidirectional mobile robot systems (MOMRSs). Neural networks are used to approximate unknown nonlinear dynamics in systems. In the framework of the backstepping recursion technique, a potential function is combined to determine the collision-free conditions of omnidirectional mobile robots (OMRs). Based on the dynamic surface control technique and a predefined-time filter, an adaptive collision-free predefined-time formation control strategy for MOMRSs is proposed, which can not only make all signals in the closed-loop system stable in a predefined-time, but also ensure that OMRs are collision-free during operation. Simulation results verify the effectiveness of the method.