1021 results about "Tracking error" patented technology

A method for steering an agricultural vehicle comprising: receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of the vehicle; receiving a yaw rate signal; and computing a compensated heading, the compensated heading comprising a blend of the yaw rate signal with heading information based on the GPS data. For each desired swath comprising a plurality of desired positions and desired headings, the method also comprises: computing an actual track and a cross track error from the desired swath based on the compensated heading and the position; calculating a desired radius of curvature to arrive at the desired track with a desired heading; and generating a steering command based on the desired radius of curvature to a steering mechanism, the steering mechanism configured to direct the vehicle.

Aspects of the invention provide systems and methods for controllably adjusting the circadian pacemaker cycle of a subject using light (or other stimulus) through application of model-based predictive control techniques. This approach allows the use of closed-loop feedback to compensate for modeling errors, unknown initial conditions and disturbances. It also allows an optimal level of light (or other stimulus) to be generated based on minimization of a cost function. The cost function may incorporate a term associated with tracking errors and a term associated with the amount of light used. The tracking function may be minimized subject to one or more constraints which may include a minimum and maximum amount of light (or other stimulus).

The invention relates to a multi-objective coordination-typed self-adaptive cruise control method for a vehicle, comprising the following steps: 1) according to the detail requirements of the multi-objective coordination-typed self-adaptive cruise control for a vehicle, the performance indicators and I/O restriction of MTC ACC are designed, and multi-objective optimization control problem is established; and 2) MTC ACC control law rolling time domain is used for solving the objective optimal control problem, and the optimal open-loop control quantity is used for carrying out feedback and achieving closed-loop control. Based on the steps, the control method comprises the following four parts of contents: 1. the modeling for the longitudinal dynamics of a traction system; 2. the performance indicators of MTC ACC; 3. the I/O restriction design of MTC ACC; and 4. solution by the MTC ACC control law rolling time domain. By constructing multi-objective optimization problem, the control method not only solves the contradiction among the fuel economy, the track performance and the feeling of the driver, moreover, on the same simulation conditions, compared with the LQ ACC control, the control method simultaneously reduces the fuel consumption and vehicle tracking error of the vehicle, and achieves the multi-objective coordinating control function.

The invention relates to a quadrotor unmanned plane control method based on a fuzzy expansion state observer and an adaptive sliding formwork. The method comprises steps that a quadrotor unmanned plane system model is established, and a system state and controller parameters are initiated; a tracking differentiator is designed; a non-linear expansion state observer is designed; fuzzy rules are established; a parameter adaptive law is designed; an adaptive sliding formwork controller is designed. According to the method, the expansion state observer is designed to estimate indetermination of a system model and external disturbance; a pole assignment method is utilized to determine an initial value of an expansion state observer parameter; the fuzzy rules are introduced to realize online setting for the expansion state observer parameter; the parameter adaptive law is designed to acquire ideal controller gain; the adaptive sliding formwork controller is designed, rapid stabilization of a system tracking error and convergence to a zero point are guaranteed, and rapid and stable position tracking and pose adjustment of the quadrotor unmanned plane are realized. The method is advantaged in that system performance is improved, and rapid and stable system position tracking and pose adjustment are realized.

An information recording apparatus is provided, which can control over the power of light beams emitted from a light source and various types of servo control with higher accuracy. A laser beam is emitted from a semiconductor laser to write information onto an optical disc. A detection signal indicative of the power of the laser beam output from a light-receiving device is sampled and held with a sample and hold circuit via an I-V converter at a timing delayed by the time corresponding to the delay time of the I-V converter. A tracking error generation circuit and a focus error generation circuit generate a tracking error signal and a focus error signal, respectively, on the basis of a detection signal having information about tracking error and focus error and output from a light-receiving device. Sample and hold circuits sample and hold the tracking error signal and the focus error signal at a timing delayed by the time corresponding to the delay time of each of the generation circuits, respectively. Power control, tracking servo, and focus servo are performed using each of the signals held by the sample and hold circuits, respectively.

A multi-band receiver in which characteristics including a tracking error are improved is provided with a variable frequency oscillator circuit, a variable divider circuit (39) for dividing an oscillation signal (SVCO) of the variable frequency oscillator circuit, and mixer circuits (15I) and (15Q) for subjecting a received signal SRX to frequency conversion into an intermediate frequency signal (SIF) by a local oscillation signal (SLO). A divided output of the variable divider circuit (39) is supplied as the local oscillation signal (SLO) to each of the mixer circuits (15I) and (15Q). When a signal in a first frequency band is received, the division ratio n of the variable divider circuit (39) and the oscillation frequency of the variable frequency oscillator are changed to change the reception frequency in the first frequency band. When a signal in a second frequency band is received, at least the oscillation frequency of the variable frequency oscillator circuit is changed to change the reception frequency in the second frequency band.

The invention discloses an unmanned surface vessel formation control method based on a leader follow-up structure. The method is used for multiple fully-driven unmanned surface vessel systems, and a formation control method based on a leader-follower is provided to prevent any follower from colliding and being kept in connection with a leader thereof. The method comprises following steps of establishing a dynamic model of an unmanned surface vessel; setting a position output tracking error constraint condition of a follower; designing a tracking error conversion function; applying the dynamic surface control technology and designing a virtual controller; designing a disturbance observer for compensating external unknown interference like wind wave flows; and constructively designing a tracking formation controller. According to the invention, it is ensured that any follower is always kept away from the leader thereof for a certain safe distance, and is in a communication connection range of the leader thereof; and by use of the dynamic surface control technology, accelerated speed of the leader is prevented from being used and practicability of a design scheme is improved.

An optical information apparatus of the present invention includes: an optical pick-up head including: a light source; a diffraction unit; a condensing unit; a beam splitter; a photodetector; and a tracking error signal generator. An optical recording medium has tracks arranged substantially at a constant pitch. An average of a pitch is tp. When a main beam is placed on the track, a first sub-beam and a second sub-beam are placed between the tracks. The tracking error signal generator performs a differential arithmetic operation with respect to signals output from a light-receiving portion receiving the main beam to generate a first push-pull signal, performs a differential arithmetic operation with respect to signals output from the light-receiving portions receiving the first sub-beam and the second sub-beam to generate a second push-pull signal, and performs a differential arithmetic operation with respect to the first push-pull signal and the second push-pull signal to generate a tracking error signal, in a case where an amplitude of the first push-pull signal obtained at the pitch tp is fluctuated when the light beam is scanned in a direction orthogonal to the tracks of the optical recording medium.

The invention provides rehabilitation training system and method combined with functional electric stimulation and a robot. The system comprises a functional electric stimulation part, a robot part and a control unit which is respectively connected with the functional electric stimulation part and the robot part, wherein the control unit is used for receiving bioelectric signals and controlling the functional electric stimulation part and the robot part at real time according to the mode of adjustable auxiliary proportion of the functional electric stimulation part and the robot part or the mode of adjustable tracking error so that the functional electric stimulation part can stimulate the corresponding muscle groups of a joint of a patient and the robot part can provide a joint auxiliary torque for the patient. The invention can be applied to progressive interactive rehabilitation of elbow joints, wrist joints, knee joints, ankle joints and shoulder joints and can help patients carry out active rehabilitation training in an improved movement space, thereby greatly accelerating the recovery of movement function of joints of affected sides.

The invention relates to a flexible satellite locus linearization attitude control method based on a disturbance observer. The invention aims at solving problems that a single locus linearization control method is poor in capability of inhibiting interference, is poorer in robustness, and does not consider external interference and the impact from flexible accessories. The method comprises the steps: employing Euler angles for describing attitudes of a spacecraft, employing an idea of equivalent disturbance, and building a flexible spacecraft dynamics and kinetics equation; solving the pseudo-inverse of a controlled object under the condition of neglecting equivalent disturbance, designing a quasi-differentiator of a specific type, and obtaining the nominal control of an expected locus; and designing a linear time varying adjuster through proportion-integration control. The method gives consideration to the influence of equivalent disturbance, designs the disturbance observer, and guarantees the asymptotic convergence of a tracking error of a flexible spacecraft. The method improves the anti-interference capability of a system, and improves the robustness of the system. The method is used in the attitude control field of flexible satellites.

A method and device for tracking error propagation and refreshing a video stream is provided. The proposed subject matter comprises of an error propagation tracking method that works in the sub-sampled domain to reduce computational cycles and memory bandwidth. Further, the tracking based update of the error propagation metric is done differently for static and non-static regions to avoid unnecessary refresh of static areas. Through suitable thresholding of the metric at a macroblock (MB) level, a set of refresh MBs are selected for each frame. These refresh MBs are coded either as an intra MB or as an inter MB that is predicted from one or more reliable reference frames (—frames that are known to be available at the decoder with negligible errors—). Such inter coding of refresh MBs improves the compression efficiency when compared to pure intra coding of refresh MBs. Further, variants to the threshold selection are presented that result in temporally uniform distribution of the number of refresh MBs and a strict refresh scheme wherein all MBs are guaranteed to be with negligible errors following a packet loss within a committed refresh period. In addition, to using the error propagation metric, spatial connectivity to already chosen refresh MBs is used in the selection of additional refresh MBs within a frame and across frames; this reduces the rate of error propagation due to part of a macroblock predicting from older, erroneous neighboring MBs and in turn requiring more refresh MBs on the average per frame.

The invention relates to a method for controlling a rigid spacecraft for target attitude tracking, and belongs to the technical field of the high-precision and high-stability attitude tracking control of spacecrafts. The method solves the problem that when the attitude tracking spacecraft runs in a low orbit in outer space, the conventional control method cannot eliminate the inherent flutter of a sliding mode variable structure. The method comprises the following steps: 1, establishing a kinetic model and a kinematic model of the rigid spacecraft; 2, setting an attitude tracking error and anexpected attitude parameter of the rigid spacecraft, and combining the attitude tracking error and the expectation attitude parameter with the kinetic model and the kinematic model to establish a mathematical model for the attitude tracking; 3, adopting a control algorithm of a sliding mode variable structure controller to adjust a control law of the mathematical model which is established in thestep 2 and is used for the attitude tracking, and simultaneously combining an observation result of a disturbance observer to modify the control law; and 4, controlling the rigid spacecraft by using the modified control law obtained in the step 3 to realize the attitude tracking. The method is suitable for the attitude tracking of targets running in the outer space.

The invention discloses a direct torque control system of a permanent magnet synchronous motor based on a terminal sliding mode, which belongs to the field of motor control. The system comprises a main circuit, a signal detection circuit, a rotational-speed outer-ring controller for the terminal sliding mode, a torque linkage inner-ring controller for an adaptive fuzzy sliding mode, a stator-linkage electromagnetic torque estimation module, an SVPWM module, a 3/2 coordinate transform module, and a rotor position/speed estimation module; the design on the rotational-speed outer-ring controller is realized by using a terminal sliding mode control method based on the adaptive estimation of load disturbance, and the rotational-speed outer-ring controller outputs direct-torque controlled demand signals; and the design on the torque linkage inner-ring controller is realized by using an adaptive fuzzy sliding mode control method, and the torque linkage inner-ring controller outputs two-phase alternating voltages in a two-phase stationary coordinate system; and through carrying out SVPWM transformation on the two-phase alternating voltages, a power switching element acted on an inverter of the main circuit implements the direct torque control of the permanent magnet synchronous motor. The direct torque control system in the invention has the advantages of quick torque response speed, good robustness, small tracking error, and capability of improving the reliability and static/dynamic characteristics of the system.

A method for steering an agricultural vehicle comprising: receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of the vehicle; receiving a yaw rate signal; and computing a compensated heading, the compensated heading comprising a blend of the yaw rate signal with heading information based on the GPS data. For each desired swath comprising a plurality of desired positions and desired headings, the method also comprises: computing an actual track and a cross track error from the desired swath based on the compensated heading and the position; calculating a desired radius of curvature to arrive at the desired track with a desired heading; and generating a steering command based on the desired radius of curvature to a steering mechanism, the steering mechanism configured to direct the vehicle.

A six degree-of-freedom trajectory linearization controller (TLC) architecture (30) for a fixed-wing aircraft (46) is set forth. The TLC architecture (30) calculates nominal force and moment commands by dynamic inversion of the nonlinear equations of motion. A linear time-varying (LTV) tracking error regulator provides exponential stability of the tracking error dynamics and robustness to model uncertainty and error. The basic control loop includes a closed-loop, LTV stabilizing controller (12), a pseudo-inverse plant model (14), and a nonlinear plant model(16). Four of the basic control loops (34, 36, 40, 42) are nested to form the TLC architecture (30).

The invention discloses antenna beam tracking device and method of a moving communication satellite communication system. The antenna beam tracking device comprises a geographical position detection device, a carrier gesture detection unit, a signal intensity detection unit, a signal conditioning circuit and a master control computer, wherein the master control computer controls a servo driver; and the servo driver controls an azimuth and pitching motor. The antenna beam tracking method comprises the following steps of: 1, initially capturing a target satellite; 2, tracking: setting initial parameters, storing and updating the initial parameters in real time, generating simultaneous disturbance random vectors, driving disturbance, measuring the intensity of received signals, estimating gradient, determining tracking error signals, regulating antenna beam pointing directions, and judging the received signals; and 3, recapturing. The invention has the advantages of simple design, low cost, system implementation without changing the hardware structure of an original tracking system, easy operation, high tracking accuracy and fast tracking speed and overcomes the defects of inconvenient operation, complex tracking step, lower tracking accuracy and tracking speed, and the like of the traditional method.

The invention discloses a binary offset carrier signal tracking loop, which comprises a correlator module, a phase discriminator unit and a filter unit. The correlator module is used for performing demodulation and despread processing on the input intermediate frequency BOC signals, and acquiring multi-path correlation values IIP, IIE, IIL, IQP, IQE, IQL and QIP between local signals and the intermediate frequency BOC signals; the phase discriminator unit is used for detecting the tracking error theta of the carrier phase and the subcarrier phase and measuring the tracking error tau of the spreading codes; and the filter unit is used for performing noise reduction and smoothing on the phase demodulation result, converting the output tracking error into corresponding frequency control words, correspondingly feeding the frequency control words back to the correlator module, tracking the input intermediate frequency BOC signals, and closing the tracking loop. The binary offset carrier signal tracking loop realizes the split tracking of the subcarrier and spreading codes, eliminates the tracking fuzziness of the BOC signals, reduces the requirement on the acquisition precision, improves the tracking performance of weak signals, widens the dynamic range of the loop, and improves the tracking stability of the BOC signals by using the periodicity of the subcarrier.

A robotic system for flexible needle steering under ultrasound imaging. A robot is used to steer the needle along a predetermined curved trajectory by maneuvering the needle base. The needle tip position is detected by an ultrasound sensor and the tracking error of the needle tip from a predetermined needle path is input to a controller which solves the inverse kinematic based on the needle position, and the needle and tissue properties. The control algorithm uses a novel method to detect the elastic properties of the tissue by analyzing tissue motion at the region in front of the needle tip. The inverse kinematic solution may be performed on a model of the needle as a flexible beam having laterally connected virtual springs to simulate lateral forces exerted by the tissue elasticity. The system is able to direct the needle to a target within the tissue while circumventing forbidden regions.

The invention discloses a trajectory tracking control method used for a driverless vehicle. The method includes the following steps that the current position point of a vehicle body is confirmed according to a reference trajectory; a matching point nearest to the current position point of the vehicle is found, and the road curvature of the nearest matching point is obtained according to a two-point curvature obtaining method; according to the current position point of the vehicle and the nearest matching point, a trajectory tracking error is obtained through calculation and comprises a transverse error and a head pointing error; a dynamic model feeding back cornering force on the basis of front wheels is established, and the optimal feedback control rate is obtained by the adoption of an LQR control algorithm; and the cornering force of the front wheels is determined, a front wheel slip angle is obtained on the basis of a reverse tire model, and then the steering wheel angle controlledquantity is obtained and issued to a steering-by-wire system to achieve trajectory tracking control. By the adoption of the method, the stability of trajectory tracking control of the driverless vehicle is improved, the trajectory tracking accuracy is improved, the tire slip angle is restrained, and the possibility that the tire force of the vehicle is saturated under an extreme working conditionand therefore the vehicle loses stability is avoided.

A tilt compensator in an optical disk drive detects an optimum tilt setting of the objective lens with respect to a reference plane of the optical head, which allows the optical head to obtain an optimum characteristic of a disk signal at a specified radial position of an optical disk. The optimum tilt setting is corrected at a desired track of the optical disk by using a difference between a first tilt angle of the reference plane with respect to the optical disk measured at the specified radial position and a second tilt angle of the reference plane measured at a desire track of the optical disk. The disk signal is a RF signal, a jitter of the encoded RF signal, a tracking error signal or a wobble signal.

The present invention discloses a robot trace tracking control method and system. The method comprises the following steps of: the step S100: establishing a dynamical model of an N-degree-of-freedom rigid robotic system; the step S200: according to dynamic characteristics of the robotic system, performing linearization of the dynamical model of the robotic system along an expected trace; and the step S300: taking expected joint angle and joint angular speed of the robotic system as reference input of a robustness adaptive iteration learning controller, taking actual joint angle and joint angular speed of the robotic system as actual input of the controller, generating tracking errors between the actual input and the reference input, and gradually decreasing the tracking errors through iteration calculation of the controller. The robot trace tracking control method and system can perform tracking control of a robot of uncertainty modeling and random disturbance, can improve the rate ofconvergence and the control precision of tracking control and can meet the requirement of the work speed and the precision of the robot.

The invention discloses a six-freedom-degree robot track planning method giving consideration to a tail end motion error, and more specifically proposes a method for carrying out the precise planning of the continuous track of the tail end of the robot through combining the spinor theory, a cubic spline interpolation algorithm and a particle swarm optimization algorithm. The method comprises the steps: building forwarding and reverse kinematic models of the robot based on the spinor theory, and simplifying the calculation process; employing cubic spline interpolation in a joint space, thereby guaranteeing the smooth motion; finally taking the number of key points as a variable, controlling a tail end tracking error within a required range, taking each time interval as a design variable, taking the maximum angular speed, the angular deceleration and angular jerk of all joints as the constraint conditions, and taking the minimization of a tracking error as an optimization target for the optimization of the track, thereby obtaining the planned track which is high in planning efficiency, is small in tracking error and is smooth in motion.

A limit time cooperative control method of a mechanical arm servo system includes: building the dynamic model of the mechanical arm servo system, and initiating the system state, sampling time and related control parameters; approximating the nonlinear input dead zone linearity in the system into a simple time-varying system according to the differential mean value theorem, and deriving a mechanical arm servo system model with an unknown dead zone; calculating the tracking error, the non-singular terminal sliding mode surface and the first derivative of a control system; selecting a neural network approximation unknown function on the basis of the mechanical arm servo system model with the unknown dead zone, designing a neural network limit time cooperative controller according to the system tracking error and the non-singular terminal sliding mode surface, and updating a neural network weight matrix. By the method, additional inverted compensation of a nonlinear dead zone can be avoided, sliding model high-frequency buffeting is reduced, and limit time fast tracking of the mechanical arm servo system is achieved.

The invention discloses an active fault-tolerant control method for a lienar multi-agent tracking system on the basis of slip form control. A distributed fault-tolerant control strategy is put forwardby a distributed observer and a slip form control method by considering the executor faults, the sensor faults, the inherent nonlinearity and the leader unknown control input of a general linear multi-agent tracking system. Firstly, a state tracking error system is established by aiming at each follower, and a sensor fault signal is taken as an auxiliary state amount to establish an augmented tracking error system. In order to simultaneously estimate various faults and the leader unknown control input, an intermediate variable is imported. On the basis of neighbor set output information, a distributed observer is designed for the augmented tracking error system and the intermediate variable, and a global estimation error system is proved to be finally uniformly bounded. According to the obtained observation information, a nonlinear slip form surface is designed for the tracking error system of each follower agent, system robustness is enhanced, and the stability of a sliding mode is proved. According to the fault observation information and the neighbor set output information, a distributed slip form controller is put forward, the state of the error system is guaranteed to reach and be kept at the slip form surface within limited time, and therefore, the fault-tolerant tracking stability of the multi-agent system is realized. The method is used for the fault-tolerant control of the linear multi-agent tracking system with executor faults and sensor faults.

A multipath mitigation method consists of locating a multipath-invariant (MPI) point of an ideal autocorrelation function and measuring the distance between the MPI point and DLL. The same MPI point is located in a received correlation function, and the distance between the point and the DLL, now affected by multipath, is measured. The difference between the ideal distance and the actual distance is the code tracking error resulting from multipath. The error is subtracted from the computed pseudorange or used to control the DLL. The method can be used to reduce the effects of all types of tracking error sources, such as signal transmission failure or code noise.

The present invention provides an accurate track tracking control method based on a finite time expansion state observer. The method comprises the following steps of: establishing a mathematical modeland a kinematic equation representing current unmanned ship motion features, designing a combined nonsingular rapid terminal sliding-mode control law according to the unmanned surface ship motion tracking errors and a nonsingular rapid terminal sliding-mode surface, designing a finite time expansion state observer according to the unmanned ship motion features, and designing an accurate track tracking control law according to the combined nonsingular rapid terminal sliding-mode control law and the finite time expansion state observer. Through design of the finite time expansion state observer, the lump interference comprising external interference and a complex nonlinear term can be observed by the finite time to a small enough range to avoid the limitation of the approximation observation. Through the designed combined nonsingular rapid terminal sliding-mode control law and the nonsingular rapid terminal sliding-mode unmanned ship track tracking controller, the accurate track tracking control method achieves the accurate track tracking control performance in a complex external interference.

The invention discloses a control method for motion stability and outline machining precision of a multi-shaft linkage numerical control system. The control method achieves control on the motion stability and outline machining errors of the multi-shaft linkage numerical control system by using a compound control mode of multi-shaft parameter module predictive control and non-linear self-adaptive fuzzy proportional-integral-derivative (PID) control. Simultaneously, error module calculating efficiency is improved by building an outline error module, a speed error module and an acceleration error module. By means of performance optimization indexes, tracking errors, outline errors, speed errors and acceleration errors of the system are minimum, and control performance of a multi-shaft servo control system is improved. Multi-shaft parameter module predicative control increment is solved through a simplified calculating module so as to meet real-time requirements of the control system. Robust property of the multi-shaft linkage numerical control system is improved by adopting the non-linear self-adaptive fuzzy PID control method. The control method effectively improves the motion stability and outline machining precision of the multi-shaft linkage numerical control system.

The invention discloses a lane change track optimization and visualization achievement method based on vehicle models and vehicle speeds. The method includes the following steps of (1) calling whole vehicle models of the four vehicle models in ADAMS software according to the following steps: (1-1) obtaining a whole vehicle structure parameter, and (1-2) obtaining vehicle dynamic characteristics; (2) analyzing tracking errors of an existing lane change track model and extracting lane change track models suitable for different vehicle models and different vehicle speeds; (3) optimizing lane change tracks on the basis of safety and comfort according to the following steps: (3-1) building a driving control DCD file on the basis of a lane change track constraint condition, and (3-2) creating a driver control model and a double-lane three-dimensional road model, creating a driver, road and vehicle simulation system, and obtaining an optimal lane change track after simulation. According to the method, lane change behaviors of a vehicle can be observed dynamically in real time, an intelligent vehicle lane change system is optimized, comfort of drivers is improved, and road driving safety is guaranteed.

The invention relates to a feedforward torque compensating method used for an industrial robot. The method includes the steps that (1) a buffer queue is established according to an interpolation point queue obtained after all motors are subjected to interpolation calculation, and the central difference method is adopted for obtaining the theoretical joint angular velocities and joint angular accelerations corresponding to all the motors of interpolation points; (2) the lagrange equation is used for obtaining the feedforward compensating torques of all joints during all interpolation periods according to the expected rotating angles, angular velocities and angular accelerations of all the joints during the interpolation periods and a kinetic model of the robot; and (3) the feedforward compensating torque tau feedforward is added into the electric current loop input position of the motor bottom layer to serve as a PD feedback torque tau feedback supplement. By means of the feedforward torque compensating method provided by the invention, calculation is easy and convenient, and after torque compensating is completed, trajectory tracking errors of the robot can be reduced, and positional accuracy of the robot can be improved.

A finite time robust cooperative tracking control method for a multi-robot system relates to a control method for a multi-robot system, and solves the problems that a conventional control method for a multi-robot control system is poor in robustness and the overall communication burden of the multi-robot system is too heavy. The method includes the steps: establishing a dynamics model, shown in the description, of each follower robot in the multi-robot system, wherein the dynamics model can be linearized as defined in the description; defining variables qri, zli and z2i; combining a virtual controller [alpha]1i to obtain a formula shown in the description; and designing a distributed control law shown in the description and a linear parameter self-adaptive law shown in the description. In this way, each follower robot can follow, within the finite time, a leader robot that has a dynamic time-varying track, tracking errors are bounded, and then finite time tracking control over the multi-robot system is completed. The method is suitable for the control field of a multi-robot system.