Finite-time controller design for nonholonomic mobile robot using the heisenberg form

This paper considers the finite-time controller design for wheeled mobile robots. After the mobile robot dynamics have been transformed into an advantageous form, called the heisenberg form, a finite-time controller is designed in order to promulgate the practical stability of the system. The desired stability property of the closed-loop system is provided by applying a homogeneous sliding mode controller, driving the system to zero dynamics in a known finite-time. Finally, simulation results demonstrate the effectiveness of the proposed strategy.