Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

Meiying Ou; Shengwei Gu; Xianbing Wang; Kexiu Dong

Kybernetika (2015)

  • Volume: 51, Issue: 6, page 1049-1067
  • ISSN: 0023-5954

Abstract

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This paper investigates finite-time tracking control problem of multiple nonholonomic mobile robots in dynamic model with external disturbances, where a kind of finite-time disturbance observer (FTDO) is introduced to estimate the external disturbances for each mobile robot. First of all, the resulting tracking error dynamic is transformed into two subsystems, i. e., a third-order subsystem and a second-order subsystem for each mobile robot. Then, the two subsystem are discussed respectively, continuous finite-time disturbance observers and finite-time tracking control laws are designed for each mobile robot. Rigorous proof shows that each mobile robot can track the desired trajectory in finite time. Simulation example illustrates the effectiveness of our method.

How to cite

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Ou, Meiying, et al. "Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances." Kybernetika 51.6 (2015): 1049-1067. <http://eudml.org/doc/276173>.

@article{Ou2015,
abstract = {This paper investigates finite-time tracking control problem of multiple nonholonomic mobile robots in dynamic model with external disturbances, where a kind of finite-time disturbance observer (FTDO) is introduced to estimate the external disturbances for each mobile robot. First of all, the resulting tracking error dynamic is transformed into two subsystems, i. e., a third-order subsystem and a second-order subsystem for each mobile robot. Then, the two subsystem are discussed respectively, continuous finite-time disturbance observers and finite-time tracking control laws are designed for each mobile robot. Rigorous proof shows that each mobile robot can track the desired trajectory in finite time. Simulation example illustrates the effectiveness of our method.},
author = {Ou, Meiying, Gu, Shengwei, Wang, Xianbing, Dong, Kexiu},
journal = {Kybernetika},
keywords = {finite-time tracking control; finite-time disturbance observer; external disturbances; nonholonomic mobile robot; dynamic model},
language = {eng},
number = {6},
pages = {1049-1067},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances},
url = {http://eudml.org/doc/276173},
volume = {51},
year = {2015},
}

TY - JOUR
AU - Ou, Meiying
AU - Gu, Shengwei
AU - Wang, Xianbing
AU - Dong, Kexiu
TI - Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances
JO - Kybernetika
PY - 2015
PB - Institute of Information Theory and Automation AS CR
VL - 51
IS - 6
SP - 1049
EP - 1067
AB - This paper investigates finite-time tracking control problem of multiple nonholonomic mobile robots in dynamic model with external disturbances, where a kind of finite-time disturbance observer (FTDO) is introduced to estimate the external disturbances for each mobile robot. First of all, the resulting tracking error dynamic is transformed into two subsystems, i. e., a third-order subsystem and a second-order subsystem for each mobile robot. Then, the two subsystem are discussed respectively, continuous finite-time disturbance observers and finite-time tracking control laws are designed for each mobile robot. Rigorous proof shows that each mobile robot can track the desired trajectory in finite time. Simulation example illustrates the effectiveness of our method.
LA - eng
KW - finite-time tracking control; finite-time disturbance observer; external disturbances; nonholonomic mobile robot; dynamic model
UR - http://eudml.org/doc/276173
ER -

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