Open Access Open Access  Restricted Access Subscription or Fee Access

Robust Stabilization of Delayed Nonholonomic Mobile Robots within Finite Settling Time

Yanling Shang, Peng Liu, Fangzheng Gao

Abstract


In this paper, the finite-time stabilization problem is investigated for nonholonomic mobile robots with stochastic disturbance in the angular velocity. First of all, an appropriate state/input transformation is introduced to convert the mentioned control model into delayed nonholonomic system in chain form. Then, by finite-time Lyapunov stability theorem and adding a power integrator technique, a state feedback controller is obtained, which could ensure the closed-loop system is globally finite-time regulated at origin. Finally, the efficiency of the proposed method is demonstrated by a detailed simulation.

Keywords


Nonholonomic mobile robots, time delay, finite-time stability.

Full Text:

PDF


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information. Also: DOI is paid service which provided by a third party. We never mentioned that we go for this for our any journal. However, journal have no objection if author go directly for this paid DOI service.