A Finite-Time Controller for a Class of Wheeled Mobile Robots

Abstract

A discontinuous stabilizing controller is proposed for a class of nonholonomic wheeled mobile robots. The main idea is to exploit the potential linear structure of chained form, along with the finite-time convergence property of the terminal sliding mode control method. The proposed controller can solve the finite-time stabilization problem of the wheeled mobile robot, and the results are also verified by simulations.