Finite-time distributed formation control system for multi-mobile robots based on event-triggering and dynamic compensation

By introducing an event-triggered mechanism and a dynamic compensator into multi-robot formation control and optimizing the distributed observer, the problem of finite-time control in distributed scenarios is solved, achieving efficient and stable formation control that can adapt to complex environmental changes.

CN122261135APending Publication Date: 2026-06-23CHINA NORTH VEHICLE RES INST +1
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
CHINA NORTH VEHICLE RES INST
Filing Date
2026-02-12
Publication Date
2026-06-23

AI Technical Summary

Technical Problem

Existing technologies struggle to achieve efficient, finite-time control in distributed scenarios during multi-robot formation control. They are particularly slow to respond and lack control precision in complex environments, failing to effectively handle input delays and saturation phenomena, leading to collaborative failures.

Method used

By introducing an event-triggered mechanism and a dynamic compensator, and optimizing the control link through a finite-time constraint function and a distributed observer, data updates are triggered only when the error reaches a threshold. Combined with the dynamic compensator to handle the saturation and delay of the control signal, efficient formation control is achieved within a finite time.

Benefits of technology

It improves the utilization rate of communication resources, ensures the system responds quickly in complex environments, enhances the coordination consistency and stability of the formation, reduces the dependence on global information, and enhances the system's adaptability and the transmission stability of control signals.

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Abstract

This invention discloses a finite-time dynamic compensation control system for multi-mobile robot formation based on event triggering, belonging to the field of mobile robot control technology. The system integrates a finite-time event triggering module, a distributed observer, a controller, and a dynamic compensator. By constructing a finite-time constraint function and combining it with a dynamic threshold triggering mechanism designed for formation errors, communication overhead is reduced. The distributed observer utilizes local and neighbor signals to achieve finite-time estimation of the desired trajectory. The dynamic compensator handles input saturation and delay, and the controller optimizes control torque through full-drive model transformation, error definition, and adaptive strategies. The system requires no global communication, achieves stable formation within a finite time, improves communication efficiency, tracking accuracy, and anti-interference capability, and is suitable for complex collaborative scenarios such as industrial inspection and logistics transportation.
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