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 |
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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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| _version_ | 1832555992569610240 |
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| author | Hua Chen Wen Chen Chaoli Wang Dongkai Zhang Binwu Zhang |
| author_facet | Hua Chen Wen Chen Chaoli Wang Dongkai Zhang Binwu Zhang |
| author_sort | Hua Chen |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-5d94fc223ea2497487cbd4d24083421c |
| institution | Kabale University |
| issn | 0972-6802 1758-4965 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Function Spaces and Applications |
| spelling | doaj-art-5d94fc223ea2497487cbd4d24083421c2025-02-03T05:46:40ZengWileyJournal of Function Spaces and Applications0972-68021758-49652013-01-01201310.1155/2013/595849595849Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter UncertaintiesHua Chen0Wen Chen1Chaoli Wang2Dongkai Zhang3Binwu Zhang4Mathematics and Physics Department, Hohai University, Changzhou Campus, Changzhou 213022, ChinaCollege of Mechanics and Materials, Hohai University, Nanjing 210098, ChinaDepartment of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, ChinaDepartment of Mathematics, Shijiazhuang University, Shijiazhuang 050035, ChinaMathematics and Physics Department, Hohai University, Changzhou Campus, Changzhou 213022, ChinaThe 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.http://dx.doi.org/10.1155/2013/595849 |
| spellingShingle | Hua Chen Wen Chen Chaoli Wang Dongkai Zhang Binwu Zhang Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties Journal of Function Spaces and Applications |
| title | Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties |
| title_full | Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties |
| title_fullStr | Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties |
| title_full_unstemmed | Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties |
| title_short | Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties |
| title_sort | finite time stabilization of dynamic nonholonomic wheeled mobile robots with parameter uncertainties |
| url | http://dx.doi.org/10.1155/2013/595849 |
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