期刊
NONLINEAR DYNAMICS
卷 97, 期 2, 页码 937-954出版社
SPRINGER
DOI: 10.1007/s11071-019-05019-0
关键词
Point-to-point stabilization; Wheeled mobile robot; Specified finite time; Second-order dynamics
资金
- National Natural Science Foundation of China [61773024]
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.
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