Conference Paper Finite-time Control of Two-wheeled Mobile Robot via Generalized Homogeneous Locally Semiconcave Control Lyapunov Function

木村, 駿介  ,  Kimura, Shunsuke  ,  中村, 文一  ,  Nakamura, Hisakazu  ,  伊吹, 竜也  ,  Ibuki, Tatsuya  ,  三平, 満司  ,  SAMPEI, MITSUJI

In this paper, we propose a finite-time control method for a two-wheeled mobile robot via a controller based ona generalized homogeneous locally semiconcave control Lyapunov function. We first transform the two-wheeled mobilerobot system into a Brockett integrator as a canonical system of nonholonomic systems. Then, we propose a stabilizationcontroller for the origin of the Brockett integrator. In particular, we utilize generalized homogeneous properties to achievefinite-time control. The effectiveness of the proposed method is confirmed by experiments using Roomba. Finally, theadvantage of the finite-time controller is shown by comparison with the other convergence rates.

Number of accesses :  

Other information