终端滑模的(1,2)型非完整机器人有限时间镇定

Finite-time Stabilization for Type (1,2) Nonholonomic Mobile Robots with Terminal Sliding Mode Control

针对(1,2)型非完整轮式移动机器人动态反馈模型,通过状态-输入变换得到相应链式系统,运用终端滑模控制技术和切换控制策略,给出了一个不连续的有限时间状态反馈控制器,并根据有限时间稳定性理论证明了相应闭环系统的原点平衡点是全局有限时间稳定的,改善了现有方法渐近稳定的收敛时耗过长的设计缺点。最后,数值仿真验证了控制方法的有效性。

In this paper, the finite-time stabilization problem is discussed for type （1, 2） nonholonomic wheeled mobile robots. By applying the terminal sliding mode technique and a switching control strategy, the discontinuous finite-time state feedback controller is presented, which can globally stabilize the closed-loop system to the origin equilibrium point in a finite time according to the finite-time stability theory, by this way, it overcomes the disadvantage of taking long time to be convergent under existing design methods. Finally, the simulation results show the effectiveness of the proposed control design approach.