Name
Title | ||
|---|---|---|
Finite-time controller design for nonholonomic mobile robot using the heisenberg form |
Abstract | ||
|---|---|---|
This paper considers the finite-time controller design for wheeled mobile robots. After the mobile robot dynamics have been transformed into an advantageous form, called the heisenberg form, a finite-time controller is designed in order to promulgate the practical stability of the system. The desired stability property of the closed-loop system is provided by applying a homogeneous sliding mode controller, driving the system to zero dynamics in a known finite-time. Finally, simulation results demonstrate the effectiveness of the proposed strategy. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/CCA.2010.5611121 | Control Applications |
Keywords | Field | DocType |
closed loop systems,control system synthesis,mobile robots,robot dynamics,stability,wheels,closed-loop system,finite-time controller design,heisenberg form,mobile robot dynamics,nonholonomic mobile robot,stability property,wheeled mobile robots,Heisenberg system,Lyapunov method,Nonholonomic mobile robot,sliding mode control | Convergence (routing),Control theory,Angular velocity,Control theory,Computer science,Controller design,Control engineering,Open-loop controller,Mobile robot,Trajectory,Sliding mode control | Conference |
ISSN | ISBN | Citations |
1085-1992 | 978-1-4244-5363-4 | 1 |
PageRank | References | Authors |
0.37 | 10 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Michael Defoort | 1 | 433 | 33.97 |
| M. Djemaϊ | 2 | 69 | 16.61 |