Finite-Time Control of Nonholonomic Mobile Robots

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 Control of Omnidirectional Mobile Robots

Nonlinear Dynamics and Control ◽

10.1007/978-3-030-34747-5_21 ◽

2020 ◽

pp. 207-215

Author(s):

Mirosław Galicki

Keyword(s):

Mobile Robots ◽

Finite Time ◽

Time Control

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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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Fixed-time trajectory tracking control for multiple nonholonomic mobile robots

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331220966419 ◽

2020 ◽

pp. 014233122096641

Author(s):

Meiying Ou ◽

Haibin Sun ◽

Zhenxing Zhang ◽

Lingchun Li

Keyword(s):

Mobile Robots ◽

Trajectory Tracking ◽

Tracking Control ◽

Initial Conditions ◽

Fixed Time ◽

Nonholonomic Mobile Robots ◽

Trajectory Tracking Control ◽

Adding A Power Integrator ◽

Time Control ◽

Power Integrator

This paper investigates the fixed-time trajectory tracking control for a group of nonholonomic mobile robots, where the desired trajectory is generated by a virtual leader, the leader’s information is available to only a subset of the followers, and the followers are assumed to have only local interaction. According to fixed-time control theory and adding a power integrator technique, distributed fixed-time tracking controllers are developed for each robot such that all states of each robot can reach the desired value in a fixed time. Moreover, the settling time is independent of the system initial conditions and only determined by the controller parameters. Simulation results illustrate and verify the effectiveness of the proposed schemes.

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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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