Arbitrary point-to-point stabilization control in specified finite time for wheeled mobile robots based on dynamic model

被引：0
|
作者：
Xiaodong He
Zhiyong Geng
机构：
[1] Peking University,State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering
来源：
Nonlinear Dynamics | 2019年 / 97卷
关键词：
Point-to-point stabilization; Wheeled mobile robot; Specified finite time; Second-order dynamics;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper investigates the arbitrary point-to-point stabilization control problem for wheeled mobile robots based on the second-order dynamics. The arbitrary point-to-point stabilization means the robot can be stabilized from any initial configuration to any other desired configurations. In this paper, at first, a global and asymptotical stabilization control law is presented directly based on the dynamic model, which can drive the robot to the identity configuration from any initial condition. Then, assisted by a new converted system, an arbitrary point-to-point stabilization control strategy is proposed, in which the initial and desired configurations are both arbitrarily chosen. Next, by means of a time-rescaling approach, a specified finite-time stabilization control law is derived from the asymptotical controller. In particular, the finite-time moment can be specified in advance. Finally, numerical simulations are presented to demonstrate the effectiveness of the control law.
引用
收藏
页码：937 / 954
页数：17
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