Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties

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...

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Bibliographic Details
Published inJournal of function spaces Vol. 2013; no. 2013; pp. 1 - 7
Main Authors Zhang, Dongkai, Wang, Chaoli, Chen, Wen, Chen, Hua, Zhang, Bingwu
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Publishing Corporation 01.01.2013
Hindawi Limited
Subjects
Control systems
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Summary: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.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:2314-8896
0972-6802
2314-8888
1758-4965
DOI:10.1155/2013/595849