关键词: 轮式移动机器人, 非完整链式系统, 镇定, 有限时间控制, 不确定系统

Abstract:

In this paper,a design method of the global finite- time stabilization controller is proposed for the uncer-tain n- dimensional nonholonomic single chain system.In this method,the single chain system is divided into a first-order subsystem and an (n －1)- order subsystem,and they are decoupled by means of the input- state- scaling tech-nique.Then,the controller of each subsystem is separately designed by means of the finite- time Lyapunov function method,thus guaranteeing the stability and finite- time convergence of the uncertain system.Moreover,the recur-sive design method is also adopted in the controller design of the (n －1)- order subsystem,and the switching con-trol strategy is used to eliminate the singularity of the (n －1)- order subsystem,thus ensuring the global stability of the controller.Finally,the controller is applied to a kind of uncertain nonholonomic wheeled mobile robot.Simula-tion results show that the controller is effective.

Key words: wheeled mobile robot, nonholonomic chain system, stabilization, finite- time control, uncertain system