Fixed-Time Leader-Following Consensus for Multiple Wheeled Mobile Robots

This article deals with the problem of leader-following consensus for multiple wheeled mobile robots. Under a directed graph, a distributed observer is proposed for each follower to estimate the leader state in a fixed time. Based on the observer and a constructed nonlinear manifold, a novel protoco...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on cybernetics Vol. 50; no. 10; pp. 4381 - 4392
Main Authors Ning, Boda, Han, Qing-Long, Lu, Qiang
Format Journal Article
LanguageEnglish
Published United States IEEE 01.10.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Directed graphs
fixed-time consensus
formation control
Graph theory
Initial conditions
leader-following consensus
Manifolds
Mobile robots
Nonlinear dynamical systems
Observers
Protocols
Robot control
Robots
Upper bounds
wheeled mobile robots
Online AccessGet full text

Cover

Abstract This article deals with the problem of leader-following consensus for multiple wheeled mobile robots. Under a directed graph, a distributed observer is proposed for each follower to estimate the leader state in a fixed time. Based on the observer and a constructed nonlinear manifold, a novel protocol is designed such that the estimated leader state is tracked in a fixed time. Moreover, a switching protocol together with a linear manifold is proposed to ensure that fixed-time leader-following consensus is realized for any initial conditions without causing singularity issues. In contrast to alternative fixed-time consensus protocols in some existing results, the protocol proposed in this article is designed by constructing the nonlinear or linear manifold, which builds a new framework for fixed-time leader-following consensus. Furthermore, the obtained upper bound of settling time is explicitly linked with a single parameter in the protocol, which facilitates the adjustment of the bound under different performance requirements. Finally, the proposed protocol is applied to formation control of wheeled mobile robots.
AbstractList This article deals with the problem of leader-following consensus for multiple wheeled mobile robots. Under a directed graph, a distributed observer is proposed for each follower to estimate the leader state in a fixed time. Based on the observer and a constructed nonlinear manifold, a novel protocol is designed such that the estimated leader state is tracked in a fixed time. Moreover, a switching protocol together with a linear manifold is proposed to ensure that fixed-time leader-following consensus is realized for any initial conditions without causing singularity issues. In contrast to alternative fixed-time consensus protocols in some existing results, the protocol proposed in this article is designed by constructing the nonlinear or linear manifold, which builds a new framework for fixed-time leader-following consensus. Furthermore, the obtained upper bound of settling time is explicitly linked with a single parameter in the protocol, which facilitates the adjustment of the bound under different performance requirements. Finally, the proposed protocol is applied to formation control of wheeled mobile robots.This article deals with the problem of leader-following consensus for multiple wheeled mobile robots. Under a directed graph, a distributed observer is proposed for each follower to estimate the leader state in a fixed time. Based on the observer and a constructed nonlinear manifold, a novel protocol is designed such that the estimated leader state is tracked in a fixed time. Moreover, a switching protocol together with a linear manifold is proposed to ensure that fixed-time leader-following consensus is realized for any initial conditions without causing singularity issues. In contrast to alternative fixed-time consensus protocols in some existing results, the protocol proposed in this article is designed by constructing the nonlinear or linear manifold, which builds a new framework for fixed-time leader-following consensus. Furthermore, the obtained upper bound of settling time is explicitly linked with a single parameter in the protocol, which facilitates the adjustment of the bound under different performance requirements. Finally, the proposed protocol is applied to formation control of wheeled mobile robots.
This article deals with the problem of leader-following consensus for multiple wheeled mobile robots. Under a directed graph, a distributed observer is proposed for each follower to estimate the leader state in a fixed time. Based on the observer and a constructed nonlinear manifold, a novel protocol is designed such that the estimated leader state is tracked in a fixed time. Moreover, a switching protocol together with a linear manifold is proposed to ensure that fixed-time leader-following consensus is realized for any initial conditions without causing singularity issues. In contrast to alternative fixed-time consensus protocols in some existing results, the protocol proposed in this article is designed by constructing the nonlinear or linear manifold, which builds a new framework for fixed-time leader-following consensus. Furthermore, the obtained upper bound of settling time is explicitly linked with a single parameter in the protocol, which facilitates the adjustment of the bound under different performance requirements. Finally, the proposed protocol is applied to formation control of wheeled mobile robots.
Author Han, Qing-Long
Ning, Boda
Lu, Qiang
Author_xml – sequence: 1
  givenname: Boda
  orcidid: 0000-0002-7813-4872
  surname: Ning
  fullname: Ning, Boda
  organization: School of Software and Electrical Engineering, Swinburne University of Technology, Melbourne, VIC, Australia
– sequence: 2
  givenname: Qing-Long
  orcidid: 0000-0002-7207-0716
  surname: Han
  fullname: Han, Qing-Long
  email: qhan@swin.edu.au
  organization: School of Software and Electrical Engineering, Swinburne University of Technology, Melbourne, VIC, Australia
– sequence: 3
  givenname: Qiang
  orcidid: 0000-0002-1586-5598
  surname: Lu
  fullname: Lu, Qiang
  email: lvqiang@hdu.edu.cn
  organization: School of Automation, Hangzhou Dianzi University, Hangzhou, China
BackLink https://www.ncbi.nlm.nih.gov/pubmed/31841433$$D View this record in MEDLINE/PubMed
BookMark eNp9kU1rFEEQhhuJmBjzA0SQAS9eZtPfH0ezZI2wISAr4qnpnq7RDr3Ta_cMxn_vLLvJIQfrUh88b1HU-xqdDHkAhN4SvCAEm8vN8sfVgmJiFtQIITh7gc4okbqlVImTp1qqU3RR6z2eQ88jo1-hU0Y0J5yxM3Szig8Q2k3cQrMGF6C0q5xS_hOHn80yDxWGOtWmz6W5ndIYdwma778AEoTmNvs4t1-zz2N9g172LlW4OOZz9G11vVnetOu7z1-Wn9Ztx7gZWy0U-NBz4J00isggsXICG-XnnmnVBQl9cKB75zkVHfXgvSACZGeCc5Sdo4-HvbuSf09QR7uNtYOU3AB5qpYyqgwTjIgZ_fAMvc9TGebrLOVcYqElJjP1_khNfgvB7krcuvLXPv5oBtQB6EqutUBvuzi6MeZhLC4mS7DdG2L3hti9IfZoyKwkz5SPy_-neXfQRAB44rVhDHPD_gG7g5S-
CODEN ITCEB8
CitedBy_id crossref_primary_10_1109_ACCESS_2020_3035420
crossref_primary_10_1177_01423312241265531
crossref_primary_10_1109_TCYB_2024_3435029
crossref_primary_10_1109_TSMC_2022_3197664
crossref_primary_10_1007_s12555_021_0980_5
crossref_primary_10_1007_s00521_021_05986_9
crossref_primary_10_1109_TNSE_2020_3029972
crossref_primary_10_1109_TNSE_2023_3252598
crossref_primary_10_1109_TNSE_2020_3042752
crossref_primary_10_1109_TSMC_2021_3072650
crossref_primary_10_1016_j_ins_2025_122061
crossref_primary_10_1109_TASE_2023_3298343
crossref_primary_10_1016_j_jfranklin_2021_02_022
crossref_primary_10_3390_math11204245
crossref_primary_10_1016_j_conengprac_2021_104861
crossref_primary_10_1109_TNSE_2023_3298719
crossref_primary_10_1002_rnc_7325
crossref_primary_10_1109_JAS_2021_1003916
crossref_primary_10_1109_TCYB_2022_3200672
crossref_primary_10_1109_TASE_2023_3326347
crossref_primary_10_1109_TASE_2023_3340411
crossref_primary_10_1002_rnc_6752
crossref_primary_10_1109_TCYB_2020_3004572
crossref_primary_10_1016_j_ins_2021_12_125
crossref_primary_10_1109_TII_2022_3201589
crossref_primary_10_1016_j_isatra_2023_07_001
crossref_primary_10_1016_j_jfranklin_2022_01_010
crossref_primary_10_1109_TCYB_2020_3034013
crossref_primary_10_1002_rnc_5924
crossref_primary_10_1155_2022_8650592
crossref_primary_10_1016_j_amc_2020_125881
crossref_primary_10_1109_TCST_2022_3175315
crossref_primary_10_1109_TCYB_2021_3050619
crossref_primary_10_1016_j_compeleceng_2022_107683
crossref_primary_10_1109_TCYB_2021_3110645
crossref_primary_10_1016_j_jfranklin_2023_01_045
crossref_primary_10_1109_TCYB_2020_3005354
crossref_primary_10_1109_TCYB_2020_3003690
crossref_primary_10_1109_TCYB_2021_3052833
crossref_primary_10_1109_TCYB_2021_3125333
crossref_primary_10_1007_s40815_023_01607_w
crossref_primary_10_1007_s42405_021_00368_w
crossref_primary_10_1109_TASE_2023_3335238
crossref_primary_10_1109_TCSII_2022_3208205
crossref_primary_10_1016_j_conengprac_2020_104717
crossref_primary_10_1109_TSMC_2021_3051139
crossref_primary_10_1016_j_ast_2022_107639
crossref_primary_10_1016_j_jfranklin_2023_10_009
crossref_primary_10_1080_00207179_2024_2390882
crossref_primary_10_1016_j_dt_2023_02_007
crossref_primary_10_1109_TFUZZ_2022_3169852
crossref_primary_10_1109_TPDS_2020_3048383
crossref_primary_10_1109_JAS_2020_1003315
crossref_primary_10_1007_s11071_022_07618_w
crossref_primary_10_1109_TCYB_2020_3022423
crossref_primary_10_1016_j_neucom_2022_11_007
crossref_primary_10_1109_TASE_2024_3376081
crossref_primary_10_1109_TCYB_2022_3199097
crossref_primary_10_3390_s21134374
crossref_primary_10_3390_app13158939
crossref_primary_10_3390_en13071808
crossref_primary_10_1109_TCYB_2023_3241406
crossref_primary_10_1016_j_ijepes_2021_106792
crossref_primary_10_1016_j_ins_2024_120303
crossref_primary_10_1109_TSMC_2021_3063117
crossref_primary_10_1109_TSMC_2023_3257024
crossref_primary_10_1109_TSMC_2021_3100903
crossref_primary_10_1109_TSMC_2022_3199112
crossref_primary_10_1016_j_neucom_2024_129173
crossref_primary_10_1109_TCYB_2022_3164658
crossref_primary_10_1109_JSYST_2023_3240171
crossref_primary_10_3390_math11122704
crossref_primary_10_3390_s25051556
crossref_primary_10_1109_TSMC_2022_3182970
crossref_primary_10_1109_TII_2023_3272666
crossref_primary_10_1109_TCYB_2022_3172750
crossref_primary_10_1109_TSMC_2022_3189403
crossref_primary_10_1016_j_ins_2020_05_008
crossref_primary_10_1016_j_asr_2022_12_037
crossref_primary_10_1109_TNSE_2020_3016167
crossref_primary_10_1109_TCSI_2020_3027327
crossref_primary_10_1109_TIE_2023_3273275
crossref_primary_10_1016_j_ins_2023_119671
crossref_primary_10_1109_TCYB_2021_3089599
crossref_primary_10_1016_j_epsr_2023_109870
crossref_primary_10_1016_j_ins_2021_12_054
crossref_primary_10_1109_TCYB_2020_3011448
crossref_primary_10_1109_TCYB_2022_3188812
Cites_doi 10.1109/TCYB.2017.2708321
10.1049/iet-cta.2017.0319
10.1109/TIE.2017.2721923
10.1155/2015/948086
10.1109/TAC.2018.2852605
10.1016/j.automatica.2015.01.021
10.1109/TAC.2011.2179869
10.1109/TNNLS.2016.2610140
10.1109/TAC.2018.2862471
10.1080/00207179.2016.1223348
10.1109/TCYB.2017.2766762
10.1109/TCYB.2016.2535126
10.1016/j.automatica.2015.09.026
10.1002/asjc.112
10.1109/TII.2018.2817248
10.1016/j.automatica.2013.04.021
10.1049/iet-cta.2014.1301
10.1109/TCYB.2016.2556002
10.1109/TAC.2016.2610945
10.1109/ICEEE.2017.8108833
10.1002/rnc.3757
10.1109/TAC.2011.2146830
10.1109/TAC.2016.2638966
10.1109/TAC.2017.2729502
10.1080/00207179.2012.717722
10.1109/TIE.2017.2701778
10.1109/TCYB.2016.2570860
10.1109/TCYB.2017.2647820
10.1109/TAC.2007.895897
10.1109/TAC.2014.2350391
10.1109/TAC.2008.925852
10.1007/978-1-84800-015-5
10.1109/TSMC.2017.2774251
10.1016/j.automatica.2011.02.045
10.1002/asjc.1585
10.1002/rnc.1147
ContentType Journal Article
Copyright Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020
Copyright_xml – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020
DBID 97E
RIA
RIE
AAYXX
CITATION
NPM
7SC
7SP
7TB
8FD
F28
FR3
H8D
JQ2
L7M
L~C
L~D
7X8
DOI 10.1109/TCYB.2019.2955543
DatabaseName IEEE All-Society Periodicals Package (ASPP) 2005–Present
IEEE All-Society Periodicals Package (ASPP) 1998–Present
IEEE Electronic Library (IEL)
CrossRef
PubMed
Computer and Information Systems Abstracts
Electronics & Communications Abstracts
Mechanical & Transportation Engineering Abstracts
Technology Research Database
ANTE: Abstracts in New Technology & Engineering
Engineering Research Database
Aerospace Database
ProQuest Computer Science Collection
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts – Academic
Computer and Information Systems Abstracts Professional
MEDLINE - Academic
DatabaseTitle CrossRef
PubMed
Aerospace Database
Technology Research Database
Computer and Information Systems Abstracts – Academic
Mechanical & Transportation Engineering Abstracts
Electronics & Communications Abstracts
ProQuest Computer Science Collection
Computer and Information Systems Abstracts
Engineering Research Database
Advanced Technologies Database with Aerospace
ANTE: Abstracts in New Technology & Engineering
Computer and Information Systems Abstracts Professional
MEDLINE - Academic
DatabaseTitleList MEDLINE - Academic
PubMed

Aerospace Database
Database_xml – sequence: 1
  dbid: NPM
  name: PubMed
  url: https://proxy.k.utb.cz/login?url=http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed
  sourceTypes: Index Database
– sequence: 2
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Sciences (General)
EISSN 2168-2275
EndPage 4392
ExternalDocumentID 31841433
10_1109_TCYB_2019_2955543
8933049
Genre orig-research
Journal Article
GrantInformation_xml – fundername: Australian Research Council Discovery Project
  grantid: DP160103567
  funderid: 10.13039/501100000923
– fundername: Zhejiang Provincial Natural Science Foundation of China
  grantid: LY18F030008
  funderid: 10.13039/501100004731
GroupedDBID 0R~
4.4
6IK
97E
AAJGR
AARMG
AASAJ
AAWTH
ABAZT
ABQJQ
ABVLG
ACIWK
AENEX
AGQYO
AGSQL
AHBIQ
AKJIK
AKQYR
ALMA_UNASSIGNED_HOLDINGS
ATWAV
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
EBS
EJD
HZ~
IFIPE
IPLJI
JAVBF
M43
O9-
OCL
PQQKQ
RIA
RIE
RNS
AAYXX
CITATION
RIG
NPM
7SC
7SP
7TB
8FD
F28
FR3
H8D
JQ2
L7M
L~C
L~D
7X8
ID FETCH-LOGICAL-c349t-857ebdf4e4c69716d607a5097bc69387cd6efdae8fab425c2bebb515e6c9daa23
IEDL.DBID RIE
ISSN 2168-2267
2168-2275
IngestDate Fri Jul 11 02:53:19 EDT 2025
Mon Jun 30 02:39:44 EDT 2025
Thu Apr 03 06:59:10 EDT 2025
Thu Apr 24 23:11:21 EDT 2025
Tue Jul 01 00:53:54 EDT 2025
Wed Aug 27 02:31:56 EDT 2025
IsPeerReviewed true
IsScholarly true
Issue 10
Language English
License https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html
https://doi.org/10.15223/policy-029
https://doi.org/10.15223/policy-037
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c349t-857ebdf4e4c69716d607a5097bc69387cd6efdae8fab425c2bebb515e6c9daa23
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
content type line 23
ORCID 0000-0002-7207-0716
0000-0002-7813-4872
0000-0002-1586-5598
PMID 31841433
PQID 2446058601
PQPubID 85422
PageCount 12
ParticipantIDs proquest_miscellaneous_2327935315
crossref_citationtrail_10_1109_TCYB_2019_2955543
proquest_journals_2446058601
crossref_primary_10_1109_TCYB_2019_2955543
ieee_primary_8933049
pubmed_primary_31841433
ProviderPackageCode CITATION
AAYXX
PublicationCentury 2000
PublicationDate 2020-10-01
PublicationDateYYYYMMDD 2020-10-01
PublicationDate_xml – month: 10
  year: 2020
  text: 2020-10-01
  day: 01
PublicationDecade 2020
PublicationPlace United States
PublicationPlace_xml – name: United States
– name: Piscataway
PublicationTitle IEEE transactions on cybernetics
PublicationTitleAbbrev TCYB
PublicationTitleAlternate IEEE Trans Cybern
PublicationYear 2020
Publisher IEEE
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml – name: IEEE
– name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References hardy (ref32) 1988
ref35
ref13
ref34
ref37
ref15
parsegov (ref20) 2013
ref36
ref14
ren (ref6) 2008
ref31
ref30
ref33
ref11
ref10
ref2
ref1
ref39
ref17
ref38
ref16
ref19
ref18
hummel (ref8) 1995; 41
ref24
ref23
ref26
ref25
ref22
ref21
cao (ref12) 2012; 57
ref28
ref27
ref29
ref7
ref9
ref4
ref3
ref5
References_xml – ident: ref30
  doi: 10.1109/TCYB.2017.2708321
– ident: ref29
  doi: 10.1049/iet-cta.2017.0319
– ident: ref23
  doi: 10.1109/TIE.2017.2721923
– ident: ref5
  doi: 10.1155/2015/948086
– ident: ref26
  doi: 10.1109/TAC.2018.2852605
– ident: ref25
  doi: 10.1016/j.automatica.2015.01.021
– volume: 41
  start-page: 261
  year: 1995
  ident: ref8
  article-title: Formation flight as an energy-saving mechanism
  publication-title: Israel J Zoology
– ident: ref33
  doi: 10.1109/TAC.2011.2179869
– ident: ref19
  doi: 10.1109/TNNLS.2016.2610140
– ident: ref7
  doi: 10.1109/TAC.2018.2862471
– ident: ref37
  doi: 10.1080/00207179.2016.1223348
– ident: ref27
  doi: 10.1109/TCYB.2017.2766762
– ident: ref1
  doi: 10.1109/TCYB.2016.2535126
– ident: ref18
  doi: 10.1016/j.automatica.2015.09.026
– ident: ref15
  doi: 10.1002/asjc.112
– ident: ref21
  doi: 10.1109/TII.2018.2817248
– ident: ref9
  doi: 10.1016/j.automatica.2013.04.021
– ident: ref24
  doi: 10.1049/iet-cta.2014.1301
– ident: ref10
  doi: 10.1109/TCYB.2016.2556002
– ident: ref2
  doi: 10.1109/TAC.2016.2610945
– ident: ref38
  doi: 10.1109/ICEEE.2017.8108833
– ident: ref34
  doi: 10.1002/rnc.3757
– volume: 57
  start-page: 33
  year: 2012
  ident: ref12
  article-title: Distributed coordinated tracking with reduced interaction via a variable structure approach
  publication-title: IEEE Trans Autom Control
  doi: 10.1109/TAC.2011.2146830
– ident: ref14
  doi: 10.1109/TAC.2016.2638966
– ident: ref22
  doi: 10.1109/TAC.2017.2729502
– ident: ref35
  doi: 10.1080/00207179.2012.717722
– ident: ref39
  doi: 10.1109/TIE.2017.2701778
– year: 1988
  ident: ref32
  publication-title: Inequalities
– ident: ref4
  doi: 10.1109/TCYB.2016.2570860
– ident: ref3
  doi: 10.1109/TCYB.2017.2647820
– ident: ref16
  doi: 10.1109/TAC.2007.895897
– ident: ref36
  doi: 10.1109/TAC.2014.2350391
– ident: ref17
  doi: 10.1109/TAC.2008.925852
– year: 2008
  ident: ref6
  publication-title: Distributed Consensus in Multi-Vehicle Cooperative Control
  doi: 10.1007/978-1-84800-015-5
– ident: ref11
  doi: 10.1109/TSMC.2017.2774251
– ident: ref13
  doi: 10.1016/j.automatica.2011.02.045
– ident: ref28
  doi: 10.1002/asjc.1585
– ident: ref31
  doi: 10.1002/rnc.1147
– start-page: 110
  year: 2013
  ident: ref20
  article-title: Fixed-time consensus algorithm for multi-agent systems with integrator dynamics
  publication-title: Proc 4th IFAC Workshop Distrib Estim Control Networked Syst
SSID ssj0000816898
Score 2.5529096
Snippet This article deals with the problem of leader-following consensus for multiple wheeled mobile robots. Under a directed graph, a distributed observer is...
SourceID proquest
pubmed
crossref
ieee
SourceType Aggregation Database
Index Database
Enrichment Source
Publisher
StartPage 4381
SubjectTerms Directed graphs
fixed-time consensus
formation control
Graph theory
Initial conditions
leader-following consensus
Manifolds
Mobile robots
Nonlinear dynamical systems
Observers
Protocols
Robot control
Robots
Upper bounds
wheeled mobile robots
Title Fixed-Time Leader-Following Consensus for Multiple Wheeled Mobile Robots
URI https://ieeexplore.ieee.org/document/8933049
https://www.ncbi.nlm.nih.gov/pubmed/31841433
https://www.proquest.com/docview/2446058601
https://www.proquest.com/docview/2327935315
Volume 50
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LT9wwEB4BJy5QSilpKTISh7aqlzycOD4WxGqFtBwQSPQU-TGRKqpN1c2qVX99x443UhGtuDmKnYfn9Y09ngE4xULWpdMZb8lYciFcy5XNkaPTRYpYZzb1B5zn19XsTlzdl_cb8Gk8C4OIIfgMJ74Z9vJdZ1d-qeysDt632oRNctyGs1rjekooIBFK3-bU4IQqZNzEzFJ1dnvx5dzHcalJrkqyoMVfZijUVfk3xAymZroL8_VHDhEmD5NVbyb296P8jc_9ixewEzEn-zwwyR5s4OIl7EWpXrL3MfX0h32YTb_-Qsf9uRA2FN_kU2KU7icZOOZre_rCGEtGQJfNYyQiI3VOpsuxeWdIw7CbznT98hXcTS9vL2Y81lrgthCq53Up0bhWoLCVzyrlqlRqAhPS0HVRS-sqbJ3GutWGxNzmBo0h8mJlldM6Lw5ga9Et8BBY6jwKQRovW5FlskaZCY0i1arNCW8lkK6nvrExEbmvh_GtCQ5JqhpPrcZTq4nUSuDjOOT7kIXjf533_aSPHeN8J3C0pm8T5XTZELjx-8LklSZwMt4mCfPbJnqB3Yr6FDkpMdJVZQKvB74Yn00aURDiLN48_c63sJ17_zwE_x3BVv9jhe8IxPTmOHDvH2j76-U
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1Lb9QwEB6VcoALUMojUMBIHADhbeI4cXKEitUCTQ9oK5VT5MdEQq02iM0K1F_fseONBALEzVHsPDyvb-zxDMALzFVVOJ3xjowll9J1vLYCOTqdp4hVZlN_wLk5KRen8uNZcbYDb6azMIgYgs9w5pthL9_1duOXyg6r4H3X1-A62f1CjKe1phWVUEIiFL8V1OCEK1TcxszS-nB59OWdj-SqZ6IuyIbmvxiiUFnl7yAzGJv5bWi2nznGmJzPNoOZ2cvfMjj-73_cgVsRdbK3I5vswQ6u7sJelOs1exmTT7_ah8X860903J8MYWP5TT4nVul_kIljvrqnL42xZgR1WRNjERkpdDJejjW9IR3DPvemH9b34HT-fnm04LHaAre5rAdeFQqN6yRKW_q8Uq5MlSY4oQxd55WyrsTOaaw6bUjQrTBoDBEYS1s7rUV-H3ZX_QofAkudxyFI41Uns0xVqDKpUaa67gQhrgTS7dS3NqYi9xUxLtrgkqR166nVemq1kVoJvJ6GfBvzcPyr876f9KljnO8EDrb0baOkrluCN35nmPzSBJ5Pt0nG_MaJXmG_oT65IDVG2qpI4MHIF9OzSSdKwpz5oz-_8xncWCyb4_b4w8mnx3BTeG89hAIewO7wfYNPCNIM5mng5CvioO8v
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Fixed-Time+Leader-Following+Consensus+for+Multiple+Wheeled+Mobile+Robots&rft.jtitle=IEEE+transactions+on+cybernetics&rft.au=Ning%2C+Boda&rft.au=Han%2C+Qing-Long&rft.au=Lu%2C+Qiang&rft.date=2020-10-01&rft.pub=IEEE&rft.issn=2168-2267&rft.volume=50&rft.issue=10&rft.spage=4381&rft.epage=4392&rft_id=info:doi/10.1109%2FTCYB.2019.2955543&rft.externalDocID=8933049
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2168-2267&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2168-2267&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2168-2267&client=summon