Arbitrary point-to-point stabilization control in specified finite time for wheeled mobile robots based on dynamic model

摘要

This paper investigates the arbitrary point-to-point stabilization control problem for wheeled mobile robots based on the second-order dynamics. The arbitrary point-to-point stabilization means the robot can be stabilized from any initial configuration to any other desired configurations. In this paper, at first, a global and asymptotical stabilization control law is presented directly based on the dynamic model, which can drive the robot to the identity configuration from any initial condition. Then, assisted by a new converted system, an arbitrary point-to-point stabilization control strategy is proposed, in which the initial and desired configurations are both arbitrarily chosen. Next, by means of a time-rescaling approach, a specified finite-time stabilization control law is derived from the asymptotical controller. In particular, the finite-time moment can be specified in advance. Finally, numerical simulations are presented to demonstrate the effectiveness of the control law.