Finite-Time Formation Convergence of Vision-Based Nonholonomic Systems Without Explicit Communication

2021 ◽  
pp. 443-454
Author(s):  
Jishnu Keshavan
Keyword(s):  
Finite Time ◽  
Nonholonomic Systems ◽  
Explicit Communication

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

scholarly journals Finite-Time Consensus Algorithm for Multiple Nonholonomic Disturbed Systems with Its Application

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Shang Shi ◽  
Xin Yu ◽  
Guohai Liu
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Sliding Mode ◽  
Nonholonomic Systems ◽  
Consensus Algorithm ◽  
Nonholonomic Mobile Robots ◽  
Terminal Sliding Mode ◽  
Consensus Algorithms ◽  
Disturbed Systems ◽  
Switching Control Strategy

This paper deals with the problem of finite-time consensus of multiple nonholonomic disturbed systems. To accomplish this problem, the multiple nonholonomic systems are transformed into two multiple subsystems, and these two multiple subsystems are studied, respectively. For these two multiple subsystems, the terminal sliding mode (TSM) algorithms are designed, respectively, which achieve the finite-time reaching of sliding surface. Next, a switching control strategy is proposed to guarantee the finite-time consensus of all the states for multiple nonholonomic systems with disturbances. Finally, we demonstrate the effectiveness of the proposed consensus algorithms with application to multiple nonholonomic mobile robots.

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