Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 50th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 6F4-4
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Host: The Institute of Systems, Control and Information Engineers

Global finite-time control of wheeled mobile robots using homogeneous finite-time controllers
*Hisakazu Nakamura, Yuh Yamashita, Hirokazu Nishitani
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Keywords: nonlinear control, robot control, global stabilization, finite-time control, homogeneous system
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Abstract
In this paper, we propose a global finite-time stabilizer for a wheeled mobile robot.Moreover, we analyze the oscillation of the controlled system using homogeneous eigenvalue analysis.Finally, we confirm the effectiveness of the proposed method by computer simulation.
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© 2006 The Institute of Systems, Control and Information Engineers
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