Global Finite-Time Stabilization for Nonholonomic Mobile Robots Based on Visual Servoing-Reference-Cited by-同舟云学术

Global Finite-Time Stabilization for Nonholonomic Mobile Robots Based on Visual Servoing

Published:2014-11-01 Issue:11 Volume:11 Page:180
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Chen Hua¹,Ding Shihong²,Chen Xi³,Wang Lihua⁴,Zhu Changping⁵,Chen Wen⁶

Affiliation:

1. Mathematics and Physics Department, Hohai University, Changzhou Campus, China

2. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China

3. Department of Basic Courses, Changzhou Institute of Light Industry Technology, Changzhou, China

4. Mathematics Department, Suzhou Vocational University, Suzhou, China

5. College of IOT Engineering, Hohai University, Changzhou, China

6. College of Mechanics and Materials, Hohai University, Nanjing, China

Abstract

In this paper, the global finite-time stabilization problem is considered for nonholonomic mobile robots based on visual servoing with uncalibrated visual parameters, control direction and unmatched external disturbances. Firstly, the simple dynamic chained-form systems is obtained by using a state and input transformation of the kinematic robot systems. Secondly, a new discontinuous switching controller is presented in the presence of uncertainties and disturbances, it is rigorously proved that the corresponding closed-loop system can be stabilized to the origin equilibrium point in a finite time. Finally, the simulation results show the effectiveness of the proposed control design approach.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/59307

Reference35 articles.

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