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  • 标题:Posture Stabilization of Unicycle Mobile Robot using Finite Time Control Techniques
  • 本地全文:下载
  • 作者:Maria Thomas ; Bijnan Bandyopadhyay ; Leena Vachhani
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2016
  • 卷号:49
  • 期号:1
  • 页码:379-384
  • DOI:10.1016/j.ifacol.2016.03.083
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractIn this paper, a finite time control strategy is proposed for the posture stabilization of a unicycle type mobile robot. The underlying bilinear structure of the chained system of the unicycle is exploited to develop the control strategy which involves switching between two continuous finite time controllers. The chained system is analysed as two subsystems. A homogeneity based finite time controller is used to stabilize the first subsystem in finite time and thereafter the Super Twisting Algorithm is employed for the finite time stabilization of the second subsystem. Simulations are performed for the proposed scheme and the mathematical results are validated.
  • 关键词:KeywordsUnicycleHomogeneitySuper Twisting Algorithm (STA)
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