Fixed-Time Stabilization for A Wheeled Mobile Robot With Actuator Dead-Zones

被引：0
|
作者：
Yang, Zicheng [1 ]
Zhao, Yulu [1 ]
Gao, Fangzheng [2 ]
机构：
[1] Undergraduate in the School of Automation, Nanjing Institute of Technology, Nanjing,211167, China
[2] Associate professor in the School of Automation, Nanjing Institute of Technology, Nanjing,211167, China
来源：
IAENG International Journal of Computer Science | 2021年 / 48卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Actuators - Closed loop systems - Dead zones - Feedback control - Mobile robots - State feedback;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, the problem of fixed-time stabilization is addressed for a unicycle-type wheeled mobile robot with actuator dead-zones. A novel switching control strategy is given to overcome the obstacle that the presence of actuator dead-zones renders the traditional feedback control technique inapplicable to such mobile robot. Then, by employing the adding a power integrator(API) technique, a state feedback controller is successfully developed to regulate all states of closed-loop system (CLS) to zero in a given fixed time. Finally, simulation results are given to confirm the efficacy of the proposed method. © 2021. All Rights Reserved.
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