Prescribed-Time Affine Formation Control for Nonholonomic Constrained Robots

This paper deals with the prescribed-time affine formation control problem for nonholonomic constrained robots. By introducing a new time-varying constraint function, the original problem of prescribed-time convergence is transformed into a problem of constraining the tracking error. It is proved that with the proposed algorithm, the formation tracking error will converge to a small neighborhood of zero in a prescribed time. The numerical simulation is consistent with the theoretical results.