文章基本信息

标题：Posture Stabilization of Unicycle Mobile Robot using Finite Time Control Techniques
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作者：Maria Thomas ; Bijnan Bandyopadhyay ; Leena Vachhani 等
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)