Finite Time Tracking Control Algorithm for Nonholonomic Mobile Robots

摘要

The finite-time trajectory tracking control problem of a nonholonomic mobile robot is discussed. In contract to traditional finite time control algorithms based on non-continuous feedbacks, the finite time control algorithms based on continuous feedbacks are more suitable for application to control engineering. Using finite time control techniques for continuous systems, a continuous state feedback control law for trajectory tracking is developed. The proposed control law can guarantee that the mobile robot will track the desired trajectory in the global sense as well as in finite time when the desired rotate velocity is a nonzero constant. Simulation results show the effectiveness of the method.