Finite-Time Control Design for Nonholonomic Mobile Robots Subject to Spatial Constraint

This paper studies the problem of finite-time stabilizing control design for nonholonomic mobile robots subject to spatial constraint. A nonlinear mapping is first introduced to transform the constrained system into a new unconstrained one. Then, by employing the adding a power integrator technique...

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Bibliographic Details
Published inIAENG international journal of applied mathematics Vol. 48; no. 4; p. 449
Main Authors Shang, Yanling, Huang, Jiacai, Li, Hongsheng, Wen, Xiulan
Format Journal Article
LanguageEnglish
Published Hong Kong International Association of Engineers 07.11.2018
Subjects
Controllers
Feedback control
Mapping
Robots
State feedback
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Summary:This paper studies the problem of finite-time stabilizing control design for nonholonomic mobile robots subject to spatial constraint. A nonlinear mapping is first introduced to transform the constrained system into a new unconstrained one. Then, by employing the adding a power integrator technique and switching control strategy, a state feedback controller is successfully constructed to guarantee that the states of closedloop system are regulated to zero in a finite time without violation of the constraint.
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ISSN:1992-9978
1992-9986