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- Title
Finite-Time Control Design for Nonholonomic Mobile Robots Subject to Spatial Constraint.
- Authors
Yanling Shang; Jiacai Huang; Hongsheng Li; Xiulan Wen
- Abstract
This paper studies the problem of finite-time stabilizing control design for nonholonomic mobile robots subject to spatial constraint. A nonlinear mapping is first introduced to transform the constrained system into a new unconstrained one. Then, by employing the adding a power integrator technique and switching control strategy, a state feedback controller is successfully constructed to guarantee that the states of closedloop system are regulated to zero in a finite time without violation of the constraint.
- Subjects
NONHOLONOMIC dynamical systems; MOBILE robots; NONLINEAR systems; FEEDBACK control systems; ROBOTS
- Publication
IAENG International Journal of Applied Mathematics, 2018, Vol 48, Issue 4, p82
- ISSN
1992-9978
- Publication type
Article