Abstract
The finite-time stabilization problem of dynamic nonholonomic wheeled mobile robots with parameter uncertainties is considered for the first time. By the equivalent coordinate transformation of states, an uncertain 5-order chained form system can be obtained, based on which a discontinuous switching controller is proposed such that all the states of the robots can be stabilized to the origin equilibrium point within any given settling time. The systematic strategy combines the theory of finite-time stability with a new switching control design method. Finally, the simulation result illustrates the effectiveness of the proposed controller.
Highlights
Stabilization problem of nonholonomic systems is theoretically challenging and practically interesting
A common characteristic of these designs of controllers above is based on kinematic model, where only a kinematic model is considered and the velocities are taken as control inputs
Some results can be found in recent papers, for example, the dynamic tracking control of wheeled mobile robots in the presence of both actuator saturations and external disturbances is considered in [10], where a computationally tractable moving horizon H∞ tracking scheme is presented
Summary
Stabilization problem of nonholonomic systems is theoretically challenging and practically interesting. For a class of uncertain nonholonomic chained form systems, Hong et al [18] have designed a nonsmooth state feedback law such that the controlled chained form system is both Lyapunov stable and finite-time convergent within any given settling time. To the best of our knowledge, there exist no results to deal with the robust finite-time stabilization of uncertain dynamic nonholonomic mobile robots. This paper considers the stabilization problem of dynamic nonholonomic mobile robots with uncertain parameters in a finite time. (b) Applying the theory of finite-time stability and the switching control method, we design a discontinuous robust controller to make the states of the chained form system converge to the equilibrium point in a finite time.
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