Fixed-time formation behavior control for unmanned ground vehicle-manipulators

Abstract Unmanned ground vehicle-manipulators (UGVMs), which integrate mobility and dexterous manipulation, are increasingly deployed in complex environments. However, their formation control is challenged by nonholonomic constraints, external disturbances, and multi-task conflicts. This paper propo...

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Detalles Bibliográficos

Principais autores:	Wenyan Xue, Wenjin Lu, Xiangzi Zhang, Houmin Wang
Formato:	Artigo
Idioma:	Inglês
Publicado:	Nature Portfolio 2026-03-01
Series:	Scientific Reports
Assuntos:	Unmanned ground vehicle-manipulators Fixed-time control Formation behavior control Adaptive tracking controller Obstacle avoidance
Acceso en liña:	https://doi.org/10.1038/s41598-026-43223-2
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