Title :
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
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;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713714
