Journal of South China University of Technology (Natural Science Edition) ›› 2013, Vol. 41 ›› Issue (8): 47-54.doi: 10.3969/j.issn.1000-565X.2013.08.008

• Electronics, Communication & Automation Technology • Previous Articles     Next Articles

Finite- Time Stabilization Control of Uncertain Wheeled Mobile Robot

Ye Jin- hua Li Di Ye Feng   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2012-12-08 Revised:2013-02-27 Online:2013-08-25 Published:2013-07-01
  • Contact: 叶锦华(1982-)，男，博士生，助教，主要从事机器人控制技术研究． E-mail:jinhuayea@gmail.com
  • About author:叶锦华(1982-)，男，博士生，助教，主要从事机器人控制技术研究．
  • Supported by:

    国家 “863” 计划项目(2011AA04A104， 2012AA040909);广东省教育部产学研结合项目(2011A090200054);广东省战略性新兴产业核心技术攻关项目(2012A010702004)

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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

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