Finite-time tracking control algorithms based on variable structure for mobile robots

Abstract

The trajectory-tracking problem for mobile robots is considered. A finite-time tracking control algorithm based on variable structure is proposed. Two designed control laws are constructed to stabilize steering angle error and position errors in finite time based on state feedbacks. Involving in results about finite-time stability, we prove that the desired trajectory is attained fully in finite time with the two control laws. Numerical simulations show the effectiveness of the control laws.