针对一类非完整移动机器人, 通过输入-状态变换得到一个三输入链式系统, 考虑其在含有不确定控制方向和外部扰动时动态反馈的有限时间镇定问题. 运用非光滑控制理论, 给出了新型切换设计算法, 并得到了不连续的三步切换控制器, 使得相应的闭环系统全局有限时间镇定. 通过数值仿真验证了该控制策略的有效性.
This paper considers a finite-time stabilization problem for a class of uncertain nonholonomic mobile robots with dynamic inputs. Using input-state transformation, a three-input chained systems can be obtained. A discontinuous three-step switching controller is presented by applying the theory of finite-time stability and a new switching design algorithm, which can stabilize the closed-loop system to the original equilibrium point in a finite time interval. Simulation results show effectiveness of the proposed approach.
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