Finite-time control of two-wheeled mobile robot via generalized homogeneous locally semiconcave control Lyapunov function

Abstract

In this paper, we propose a finite-time control method for a two-wheeled mobile robot via a controller based on a generalized homogeneous locally semiconcave control Lyapunov function. We first transform the two-wheeled mobile robot system into a Brockett integrator as a canonical system of nonholonomic systems. Then, we propose a stabilization controller for the origin of the Brockett integrator. In particular, we utilize generalized homogeneous properties to achieve finite-time control. The effectiveness of the proposed method is confirmed by experiments using Roomba. Finally, the advantage of the finite-time controller is shown by comparison with the other convergence rates.