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
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;
Conference_Titel :
Control Conference (CCC), 2010 29th Chinese
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-6263-6
