Moving Target Tracking of Nonholonomic Mobile Robots for with Anti-Interference via Finite-Time Control

2019 ◽  
Author(s):  
Jiang Chen ◽  
Fan Yang ◽  
Rui Li ◽  
Chunyu Gu ◽  
Hua Chen
Keyword(s):  
Mobile Robots ◽  
Target Tracking ◽  
Finite Time ◽  
Moving Target ◽  
Nonholonomic Mobile Robots ◽  
Moving Target Tracking ◽  
Time Control

scholarly journals Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Hua Chen ◽  
Shen Xu ◽  
Lulu Chu ◽  
Fei Tong ◽  
Lei Chen
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Control Method ◽  
Tracking Error ◽  
Switching Control ◽  
Polar Coordinates ◽  
Control Law ◽  
Moving Target ◽  
Nonholonomic Mobile Robots ◽  
Time Switching

In this paper, finite-time tracking problem of nonholonomic mobile robots for a moving target is considered. First of all, polar coordinates are used to characterize the distance and azimuth between the moving target and the robot. Then, based on the distance and azimuth transported from the sensor installed on the robot, a finite-time tracking control law is designed for the nonholonomic mobile robot by the switching control method. Rigorous proof shows that the tracking error converges to zero in a finite time. Numerical simulation demonstrates the effectiveness of the proposed control method.

Fractional robust finite time control of four-wheel-steering mobile robots subject to serious time-varying perturbations

2022 ◽  
Vol 169 ◽  
pp. 104634
Author(s):  
Liquan Jiang ◽  
Shuting Wang ◽  
Yuanlong Xie ◽  
Sheng Quan Xie ◽  
Shiqi Zheng ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Time Varying ◽  
Time Control
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