Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot | Zendy

Fangzheng Gao | Zendy; Fushun Yuan | Zendy

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Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot

Author(s) -

Fangzheng Gao,

Fushun Yuan

Publication year - 2012

Publication title -

abstract and applied analysis

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.228

H-Index - 56

eISSN - 1687-0409

pISSN - 1085-3375

DOI - 10.1155/2012/361269

Subject(s) - nonholonomic system , algorithm , computer science , mobile robot , stability (learning theory) , mathematics , artificial intelligence , robot , machine learning

This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated with x0(0)=0, global stochastic finite-time regulation of the closed-loop system states is achieved. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances. The simulation results demonstrate the validity of the presented algorithm

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