Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties
Joint Authors
Zhang, Dongkai
Chen, Hua
Chen, Wen
Zhang, Bingwu
Wang, Chaoli
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-12-05
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Chen, Hua& Chen, Wen& Wang, Chaoli& Zhang, Dongkai& Zhang, Bingwu. 2013. Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties. Journal of Function Spaces،Vol. 2013, no. 2013, pp.1-7.
https://search.emarefa.net/detail/BIM-1006139
Modern Language Association (MLA)
Chen, Hua…[et al.]. Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties. Journal of Function Spaces No. 2013 (2013), pp.1-7.
https://search.emarefa.net/detail/BIM-1006139
American Medical Association (AMA)
Chen, Hua& Chen, Wen& Wang, Chaoli& Zhang, Dongkai& Zhang, Bingwu. Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties. Journal of Function Spaces. 2013. Vol. 2013, no. 2013, pp.1-7.
https://search.emarefa.net/detail/BIM-1006139
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1006139