Finite time tracking control of a nonholonomic mobile robot with external disturbances

摘要：

This paper investigates finite time tracking control problem of a nonholonomic wheeled mobile robot in dynamic model with external disturbances, where a kind of finite time disturbance observer is introduced to estimate the external disturbances. First of all, the resulting tracking error dynamic is transformed into two subsystems, i.e., a third-order subsystem and a second-order subsystem for the mobile robot. Then, the two subsystem are discussed respectively, continuous finite time disturbance observers and finite time tracking control laws are designed for the mobile robot. Rigorous proof shows that the mobile robot can track the desired trajectory in finite time. Simulation example illustrates the effectiveness of our method.

关键词： Finite time tracking control finite time disturbance observer external disturbances nonholonomic mobile robot dynamic model

作者: OU Meiying SUN Haibin LI Shihua

作者单位: School of Automation, Southeast University, Nanjing, 210096, P. R. ChinaKey Laboratory of Measuremen School of Automation, Southeast University, Nanjing, 210096, P. R. China Key Laboratory of Measureme

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 853-858

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）