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Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates
Joint Authors
Chen, Hua
Xu, Shen
Chu, Lulu
Tong, Fei
Chen, Lei
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-10-22
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
In this paper, finite-time tracking problem of nonholonomic mobile robots for a moving target is considered.
First of all, polar coordinates are used to characterize the distance and azimuth between the moving target and the robot.
Then, based on the distance and azimuth transported from the sensor installed on the robot, a finite-time tracking control law is designed for the nonholonomic mobile robot by the switching control method.
Rigorous proof shows that the tracking error converges to zero in a finite time.
Numerical simulation demonstrates the effectiveness of the proposed control method.
American Psychological Association (APA)
Chen, Hua& Xu, Shen& Chu, Lulu& Tong, Fei& Chen, Lei. 2018. Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates. Complexity،Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1135766
Modern Language Association (MLA)
Chen, Hua…[et al.]. Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates. Complexity No. 2018 (2018), pp.1-9.
https://search.emarefa.net/detail/BIM-1135766
American Medical Association (AMA)
Chen, Hua& Xu, Shen& Chu, Lulu& Tong, Fei& Chen, Lei. Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates. Complexity. 2018. Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1135766
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1135766