Finite-time Stabilization of Nonholonomic Mobile Robots with Stochastic Forward Velocity

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.

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Finite-Time Tracking Control of Nonholonomic Mobile Robots

International Journal of Digital Content Technology and its Applications ◽

10.4156/jdcta.vol7.issue4.79 ◽

2013 ◽

Vol 7 (4) ◽

pp. 660-668

Author(s):

Yanling Shang ◽

Xin Guo

Keyword(s):

Mobile Robots ◽

Finite Time ◽

Tracking Control ◽

Nonholonomic Mobile Robots

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Semiglobal Stabilization for Nonholonomic Mobile Robots Based on Dynamic Feedback With Inputs Saturation

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4006076 ◽

2012 ◽

Vol 134 (4) ◽

Cited By ~ 13

Author(s):

Hua Chen ◽

Chaoli Wang ◽

Liu Yang ◽

Dongkai Zhang

Keyword(s):

Mobile Robots ◽

Finite Time ◽

Closed Loop ◽

Kinematic Model ◽

Loop System ◽

Control Technique ◽

Dynamic Feedback ◽

Closed Loop System ◽

Nonholonomic Mobile Robots ◽

Semiglobal Stabilization

This paper investigates the semiglobal stabilization problem for nonholonomic mobile robots based on dynamic feedback with inputs saturation. A bounded, continuous, time-varying controller is presented such that the closed-loop system is semiglobally asymptotically stable. The systematic strategy combines finite-time control technique with the virtual-controller-tracked method, which is similar to the back-stepping procedure. First, the bound-constrained smooth controller is presented for the kinematic model. Second, the dynamic feedback controller is designed to make the generalized velocity converge to the prespecified kinematic (virtual) controller in a finite time. Furthermore, the rigorous proof is given for the stability analysis of the closed-loop system. In the mean time, the position and torque inputs of robots are proved to be bounded at any time. Finally, the simulation results show the effectiveness of the proposed control approach.

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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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