Finite-Time Stabilization of Dynamic Nonholonomic Wheeled Mobile Robots with Parameter Uncertainties

摘要

The finite-time stabilization problem of dynamic nonholonomic wheeled mobile robots with parameter uncertainties is considered for the first time. By the equivalent coordinate transformation of states, an uncertain 5-order chained form system can be obtained, based on which a discontinuous switching controller is proposed such that all the states of the robots can be stabilized to the origin equilibrium point within any givensettling time. The systematic strategy combines the theory of finite-time stability with a new switching control design method. Finally, the simulation result illustrates the effectiveness of the proposed controller.