Arbitrary point-to-point stabilization control in specified finite time for wheeled mobile robots based on dynamic model

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.

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Sliding Mode Control for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots Based on Neural Dynamic Model

2010 Second WRI Global Congress on Intelligent Systems ◽

10.1109/gcis.2010.231 ◽

2010 ◽

Cited By ~ 7

Author(s):

Z.P. Wang ◽

W.R. Yang ◽

G.X. Ding

Keyword(s):

Sliding Mode Control ◽

Mobile Robots ◽

Dynamic Model ◽

Trajectory Tracking ◽

Sliding Mode ◽

Neural Dynamic ◽

Wheeled Mobile Robots ◽

Mode Control

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Finite-Time Global Trajectory Tracking Control for Uncertain Wheeled Mobile Robots

IEEE Access ◽

10.1109/access.2020.3030633 ◽

2020 ◽

Vol 8 ◽

pp. 187808-187813

Author(s):

Jie Zhang ◽

Qijuan Gong ◽

Yi Zhang ◽

Jianhui Wang

Keyword(s):

Mobile Robots ◽

Trajectory Tracking ◽

Finite Time ◽

Tracking Control ◽

Wheeled Mobile Robots ◽

Trajectory Tracking Control ◽

Global Trajectory

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Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties

Journal of Function Spaces and Applications ◽

10.1155/2013/595849 ◽

2013 ◽

Vol 2013 ◽

pp. 1-7

Author(s):

Hua Chen ◽

Wen Chen ◽

Chaoli Wang ◽

Dongkai Zhang ◽

Binwu Zhang

Keyword(s):

Mobile Robots ◽

Finite Time ◽

Design Method ◽

Parameter Uncertainties ◽

Wheeled Mobile Robots ◽

Finite Time Stability ◽

Systematic Strategy ◽

Switching Controller ◽

Finite Time Stabilization ◽

First Time

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.

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