Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates. (22nd October 2018)

• Record Type: Journal Article
• Authors: Chen, Hua; Xu, Shen; Chu, Lulu; Tong, Fei; Chen, Lei
• Other Names: Paolotti Daniela Academic Editor.
• Is Part Of: Complexity. Volume 2018(2018)
• Publication Date: 2018-10-22
• Subjects: Chaotic behavior in systems -- Periodicals; Complexity (Philosophy) -- Periodicals; 003
• DOI: 10.1155/2018/7360643
• Languages: English
• ISSNs: 1076-2787

Abstract

Abstract : In this paper, finite-time tracking problem of nonholonomic mobile robots for a moving target is considered. First of all, polar coordinates are used to characterize the distance and azimuth between the moving target and the robot. Then, based on the distance and azimuth transported from the sensor installed on the robot, a finite-time tracking control law is designed for the nonholonomic mobile robot by the switching control method. Rigorous proof shows that the tracking error converges to zero in a finite time. Numerical simulation demonstrates the effectiveness of the proposed control method.