Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates

被引：9
|
作者：
Chen, Hua [1 ]
Xu, Shen [2 ]
Chu, Lulu [3 ]
Tong, Fei [3 ]
Chen, Lei [3 ]
机构：
[1] Hohai Univ, Math & Phys Dept, Changzhou Campus, Nanjing 213022, Jiangsu, Peoples R China
[2] Hohai Univ, Sch Mech & Elect Engn, Changzhou Campus, Nanjing 213022, Jiangsu, Peoples R China
[3] Hohai Univ, Sch Internet Things, Changzhou Campus, Nanjing 213022, Jiangsu, Peoples R China
来源：
COMPLEXITY | 2018年
基金：
中国国家自然科学基金;
关键词：
OUTPUT-FEEDBACK; EXPONENTIAL STABILIZATION; SYSTEMS; STABILITY;
D O I：
10.1155/2018/7360643
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
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.
引用
收藏
页数：9
相关论文
共 50 条
  • [1] Moving Target Tracking of Nonholonomic Mobile Robots for with Anti-Interference via Finite-Time Control
    Chen, Jiang
    Yang, Fan
    Li, Rui
    Gu, Chunyu
    Chen, Hua
    [J]. 2019 CHINESE AUTOMATION CONGRESS (CAC2019), 2019, : 5092 - 5095
  • [2] Finite-time tracking control of multiple nonholonomic mobile robots
    Ou, Meiying
    Du, Haibo
    Li, Shihua
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2012, 349 (09): : 2834 - 2860
  • [3] Finite-Time Tracking Control for Nonholonomic Mobile Robots Based on Visual Servoing
    Ou, Meiying
    Li, Shihua
    Wang, Chaoli
    [J]. ASIAN JOURNAL OF CONTROL, 2014, 16 (03) : 679 - 691
  • [4] FINITE-TIME TRACKING CONTROL OF MULTIPLE NONHOLONOMIC MOBILE ROBOTS WITH EXTERNAL DISTURBANCES
    Ou, Meiying
    Gu, Shengwei
    Wang, Xianbing
    Dong, Kexiu
    [J]. KYBERNETIKA, 2015, 51 (06) : 1049 - 1067
  • [5] FINITE-TIME TRACKING CONTROL OF A NONHOLONOMIC MOBILE ROBOT
    Wang, Zhao
    Li, Shihua
    Fei, Shumin
    [J]. ASIAN JOURNAL OF CONTROL, 2009, 11 (03) : 344 - 357
  • [6] Moving Target Tracking of Extended Nonholonomic Chained-Form Systems via Finite-Time Switching Control
    Chen, Hua
    Chen, Lei
    Tong, Fei
    [J]. DISCRETE DYNAMICS IN NATURE AND SOCIETY, 2018, 2018
  • [7] Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements
    Shi, Shang
    Yu, Xin
    Khoo, Suiyang
    [J]. INTERNATIONAL JOURNAL OF CONTROL, 2016, 89 (02) : 411 - 423
  • [8] Finite-time tracking control for multiple nonholonomic mobile robots with external disturbances and uncertainties
    Ou Meiying
    Gu Shengwei
    Wang Bingting
    Lan Qixun
    [J]. PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 7913 - 7919
  • [9] Finite-time formation control of multiple nonholonomic mobile robots
    Ou, Meiying
    Du, Haibo
    Li, Shihua
    [J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2014, 24 (01) : 140 - 165
  • [10] A Nonlinear Moving Target Tracking Control of Nonholonomic Wheeled Mobile Robots
    Petrov, Plamen
    Georgieva, Veska
    [J]. 2018 INTERNATIONAL CONFERENCE ON HIGH TECHNOLOGY FOR SUSTAINABLE DEVELOPMENT (HITECH), 2018,
12345