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- Title
Fixed-Time Stabilization of Spatial Constrained Wheeled Mobile Robot via Nonlinear Mapping.
- Authors
Yanling Shang; Jiacai Huang
- Abstract
The problem of fixed-time stabilizing control for wheeled mobile robot subject to spatial constraint is studied in this paper. 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 closed-loop system are regulated to zero in a given fixed time without violation of the constraint. Finally, simulation results are given to confirm the efficacy of the presented control scheme.
- Subjects
MOBILE robots; CLOSED loop systems; STATE feedback (Feedback control systems); CARTOGRAPHY software
- Publication
IAENG International Journal of Applied Mathematics, 2020, Vol 50, Issue 4, p791
- ISSN
1992-9978
- Publication type
Article