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Finite‐time tracking control of a nonholonomic mobile robot
Author(s) -
Wang Zhao,
Li Shihua,
Fei Shumin
Publication year - 2009
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.112
Subject(s) - backstepping , control theory (sociology) , nonholonomic system , trajectory , controller (irrigation) , mobile robot , stability (learning theory) , lyapunov function , control engineering , computer science , tracking (education) , lyapunov stability , track (disk drive) , control (management) , engineering , robot , adaptive control , nonlinear system , artificial intelligence , astronomy , machine learning , quantum mechanics , agronomy , biology , operating system , psychology , pedagogy , physics
In this paper, the finite‐time tracking problem is investigated for a nonholonomic wheeled mobile robot in a fifth‐order dynamic model. We consider the whole tracking error system as a cascaded system. Two continuous global finite‐time stabilizing controllers are designed for a second‐order subsystem and a third‐order subsystem respectively. Then finite‐time stability results for cascaded systems are employed to prove that the closed‐loop system satisfies the finite‐time stability. Thus the closed‐loop system can track the reference trajectory in finite‐time when the desired velocities satisfy some conditions. In particular, we discuss the control gains selection for the third‐order finite‐time controller and give sufficient conditions by using Lyapunov and backstepping techniques. Simulation results demonstrate the effectiveness of our method. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society