A Finite-Time Controller for a Class of Wheeled Mobile Robots

Author

Zhu, Xiaocai ; Dong, Guohua ; Hu, Dewen

Author_Institution

Dept. of Autom. Control, National Univ. of Defense Technol., Changsha

Volume

2

fYear

0

fDate

0-0 0

Firstpage

8866

Lastpage

8870

Abstract

A discontinuous stabilizing controller is proposed for a class of nonholonomic wheeled mobile robots. The main idea is to exploit the potential linear structure of chained form, along with the finite-time convergence property of the terminal sliding mode control method. The proposed controller can solve the finite-time stabilization problem of the wheeled mobile robot, and the results are also verified by simulations

Keywords

bilinear systems; controllability; discrete time systems; mobile robots; stability; variable structure systems; discontinuous stabilizing controller; finite-time controller; finite-time convergence; finite-time stabilization; linear structure; nonholonomic wheeled mobile robots; terminal sliding mode control; Automatic control; Control systems; Convergence; Educational institutions; Educational robots; Mobile robots; Robotics and automation; Sliding mode control; State feedback; Transient analysis; Nonholonomic system; chained system; finite-time control; stabilization; terminal sliding mode;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713714

Filename

1713714