Fixed-Time Rigidity-Based Formation Maneuvering for Nonholonomic Multirobot Systems with Prescribed Performance

Ke Lu, Shi Lu Dai, Xu Jin

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


This article presents rigidity-based formation maneuvering for a group of nonholonomic mobile robots subject to limited sensing capability, where the performance bounds are introduced to constrain the distance and angle errors. The time-varying and asymmetric performance constraints can prescribe the transient and steady-state performance of the closed-loop systems, which further specify collision avoidance and connectivity maintenance among neighboring robots and avoid the controller singularity issue. To satisfy the constraint requirements and fixed-Time convergence, universal barrier Lyapunov functions are incorporated with control design such that angle errors are fixed-Time stable and distance errors can converge to a small neighborhood around zero in fixed time. Under the proposed control protocol, all robots can track the desired time-varying velocity while generating and maintaining the predefined formation defined by a minimally and infinitesimally rigid graph. Simulation and experiment studies are carried out to illustrate the effectiveness of the proposed control protocol.

Original languageEnglish
Pages (from-to)2129-2141
Number of pages13
JournalIEEE Transactions on Cybernetics
Issue number4
StatePublished - Apr 1 2024

Bibliographical note

Publisher Copyright:
© 2013 IEEE.


  • Collision avoidance
  • connectivity maintenance
  • formation maneuvering
  • nonholonomic mobile robots
  • prescribed performance
  • rigidity graph

ASJC Scopus subject areas

  • Software
  • Information Systems
  • Human-Computer Interaction
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications


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