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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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2013-01-01
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| Series: | Journal of Function Spaces and Applications |
| Online Access: | http://dx.doi.org/10.1155/2013/595849 |
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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. |
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| ISSN: | 0972-6802 1758-4965 |