Global Finite-Time Partial Stabilization for a Class of Nonholonomic Mobile Robots Subject to Input Saturation
Global Finite-Time Partial Stabilization for a Class of Nonholonomic Mobile Robots Subject to Input Saturation
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DOI：
10.5772/61684
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发表时间：
2015-11
影响因子：
2.3
通讯作者：
Hua Chen;Baojun Li;Binwu Zhang;Li Zhang
中科院分区：
文献类型：
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作者：
Hua Chen;Baojun Li;Binwu Zhang;Li Zhang
讨论了一类具有连续纯状态反馈且受输入饱和约束的非完整轮式移动机器人的全局有限时间部分镇定问题。首先，针对移动机器人运动学模型，通过状态和输入变换得到“3输入，2链，1产生”的非完整链式系统。提出了连续饱和纯状态反馈控制律，使得特殊链型系统在有限时间内稳定为零（除了角度变量），即有限时间部分镇定。其次，应用Lyapunov定理结合有限时间控制理论对相应的闭环系统进行了严密的稳定性分析，证明了角度变量收敛于一个常数，并可提前准确估计其收敛极限；最后，仿真结果表明了所提控制器不仅适用于链式系统，而且适用于原移动机器人系统的正确性和有效性。
In this paper, the global finite-time partial stabilization problem is discussed for a class of nonholonomic mobile wheeled robots with continuous pure state feedback and subject to input saturation. Firstly, for the mobile robot kinematic model, a “3 inputs, 2 chains, 1 generator” nonholonomic chained form systems can be obtained by using a state and input transformation. The continuous, saturated pure state feedback control law is proposed such that the special chained form systems can be stabilized to zero (except an angle variable) in a finite time, i.e., finite-time partial stabilization. Secondly, the rigorous stability analysis of the corresponding closed-loop system is presented by applying Lyapunov theorem combined with the finite-time control theory, and the angle variable can be proved to converge to a constant, moreover, its convergent limit may be accurately estimated in advance. Finally, the simulation results show the correctness and the validity of the proposed controller not only for the chained system but also for the original mobile robots system.