文章基本信息

标题：Fixed-Time Stabilization for A Wheeled Mobile Robot With Actuator Dead-Zones
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作者：Zicheng Yang ; Yulu Zhao ; Fangzheng Gao 等
期刊名称：IAENG International Journal of Computer Science
印刷版ISSN：1819-656X
电子版ISSN：1819-9224
出版年度：2021
卷号：48
期号：3
语种：English
出版社：IAENG - International Association of Engineers
摘要：In this paper, the problem of fixed-time stabilization is addressed for a unicycle-type wheeled mobile robot with actuator dead-zones. A novel switching control strategy is given to overcome the obstacle that the presence of actuator dead-zones renders the traditional feedback control technique inapplicable to such mobile robot. Then, by employing the adding a power integrator(API) technique, a state feedback controller is successfully developed to regulate all states of closed-loop system (CLS) to zero in a given fixed time. Finally, simulation results are given to confirm the efficacy of the proposed method.
关键词：wheeled mobile robot;actuator dead-zones;adding a power integrator (API);fixed-time stabilization