Finite-time Stabilization Controller for Wheeled Mobile Robots

摘要

The finite-time stabilization problem of single chained system is investigated in this paper.The potential linear structure of the n-dimensional chained system is exploited,and then the chained system is divided into a scalar subsystem and a(n-1)-dimensional LTV subsystem.Furthermore,the controllability of the LTV subsystem which has a time-varying function system matrix is proved.Then,a discontinuous feedback control laws is proposed by using the terminal sliding mode control method along with a piecewise control strategy.The chained system is finite-time stabilized due to the finite-time convergence property of the terminal sliding mode.Finally,the proposed strategy is applied to a car-like wheeled mobile robot,and the results are verified by simulations.