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Title
Japanese: 
English:Finite-time Control of Two-wheeled Mobile Robot via Generalized Homogeneous Locally Semiconcave Control Lyapunov Function 
Author
Japanese: 木村 駿介, Teppei Nakai, 中村 文一, 伊吹 竜也, 三平 満司.  
English: Shunsuke Kimura, Teppei Nakai, Hisakazu Nakamura, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the SICE Annual Conference 2016 
Volume, Number, Page         pp. 1643-1648
Published date Sept. 20, 2016 
Publisher
Japanese: 
English:SICE 
Conference name
Japanese: 
English:SICE Annual Conference 2016 
Conference site
Japanese: 
English:Tsukuba 
DOI https://doi.org/10.1109/SICE.2016.7749220
Abstract In this paper, we propose a finite-time control method for a two-wheeled mobile robot via a controller based on a generalized homogeneous locally semiconcave control Lyapunov function. We first transform the two-wheeled mobile robot system into a Brockett integrator as a canonical system of nonholonomic systems. Then, we propose a stabilization controller for the origin of the Brockett integrator. In particular, we utilize generalized homogeneous properties to achieve finite-time control. The effectiveness of the proposed method is confirmed by experiments using Roomba. Finally, the advantage of the finite-time controller is shown by comparison with the other convergence rates.

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