DocumentCode
2110030
Title
Finite-time tracking control algorithms based on variable structure for mobile robots
Author
Yuan Jian ; Tang Gong-You
Author_Institution
Dept. of Comput., Ocean Univ. of China, Qingdao, China
fYear
2010
fDate
29-31 July 2010
Firstpage
419
Lastpage
423
Abstract
The trajectory-tracking problem for mobile robots is considered. A finite-time tracking control algorithm based on variable structure is proposed. Two designed control laws are constructed to stabilize steering angle error and position errors in finite time based on state feedbacks. Involving in results about finite-time stability, we prove that the desired trajectory is attained fully in finite time with the two control laws. Numerical simulations show the effectiveness of the control laws.
Keywords
mobile robots; position control; state feedback; variable structure systems; finite-time stability; finite-time tracking control algorithms; mobile robots; position errors; state feedbacks; steering angle error; variable structure; Angular velocity; Mathematical model; Mobile robots; Stability analysis; Trajectory; Finite-time Tracking Control; Mobile Robot; Variable Structure;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2010 29th Chinese
Conference_Location
Beijing
Print_ISBN
978-1-4244-6263-6
Type
conf
Filename
5573520
Link To Document