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Robust Stabilization of Delayed Nonholonomic Mobile Robots within Finite Settling Time

Yanling Shang, Peng Liu, Fangzheng Gao


In this paper, the finite-time stabilization problem is investigated for nonholonomic mobile robots with stochastic disturbance in the angular velocity. First of all, an appropriate state/input transformation is introduced to convert the mentioned control model into delayed nonholonomic system in chain form. Then, by finite-time Lyapunov stability theorem and adding a power integrator technique, a state feedback controller is obtained, which could ensure the closed-loop system is globally finite-time regulated at origin. Finally, the efficiency of the proposed method is demonstrated by a detailed simulation.


Nonholonomic mobile robots, time delay, finite-time stability.

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