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Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates

Author

Listed:
  • Hua Chen
  • Shen Xu
  • Lulu Chu
  • Fei Tong
  • Lei Chen

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.

Suggested Citation

  • Hua Chen & Shen Xu & Lulu Chu & Fei Tong & Lei Chen, 2018. "Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates," Complexity, Hindawi, vol. 2018, pages 1-9, October.
    • Handle: RePEc:hin:complx:7360643
    DOI: 10.1155/2018/7360643
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    Cited by:

    1. Hua Chen & Xiaoying Sun & Shen Xu & Yuxuan Wang, 2019. "Robust Stabilization of Extended Nonholonomic Chained-Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control," Complexity, Hindawi, vol. 2019, pages 1-12, March.
    2. Miranda-Colorado, Roger, 2022. "Observer-based proportional integral derivative control for trajectory tracking of wheeled mobile robots with kinematic disturbances," Applied Mathematics and Computation, Elsevier, vol. 432(C).

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