Thomas, Maria ; Bandyopadhyay, Bijnan ; Vachhani, Leena (2016) Posture Stabilization of Unicycle Mobile Robot using Finite Time Control Techniques In: 4th International Conference on Advances in Control and Optimization of Dynamical Systems, Feb 2016, Tiruchirappalli, India.
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Official URL: http://doi.org/10.1016/j.ifacol.2016.03.083
Related URL: http://dx.doi.org/10.1016/j.ifacol.2016.03.083
Abstract
In this paper, a finite time control strategy is proposed for the posture stabilization of a unicycle type mobile robot. The underlying bilinear structure of the chained system of the unicycle is exploited to develop the control strategy which involves switching between two continuous finite time controllers. The chained system is analysed as two subsystems. A homogeneity based finite time controller is used to stabilize the first subsystem in finite time and thereafter the Super Twisting Algorithm is employed for the finite time stabilization of the second subsystem. Simulations are performed for the proposed scheme and the mathematical results are validated.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Source: | Copyright of this article belongs to Elsevier B.V. |
| Keywords: | Unicycle; Homogeneity; Super Twisting Algorithm (STA). |
| ID Code: | 115949 |
| Deposited On: | 17 Mar 2021 12:24 |
| Last Modified: | 17 Mar 2021 12:24 |
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