A Bounded-Function-Based Scheme for Finite-Time Stabilization of a NWMR with Input Constraints

Abstract

This paper addresses the finite-time stabilization problem for a nonholonomic wheeled mobile robot (NWMR) with input constraints. By utilizing the hyperbolic tangent function tanh(·), bounded finite-time stabilization controllers are developed. In addition, an explicit upper-bound estimate for the closed-loop settling time is given, and the level of input constraints is characterized by parameters that depend on the actuator’s capacity. A thorough finite-time stability analysis is carried out using appropriate Lyapunov functions. For a compact set contained in the domain of attraction, a guideline is presented to clarify how to construct it. Finally, simulation results show the effectiveness of the developed controllers.

Keywords

Finite-time stability/Stabilization / Bounded input / Input constraints

Acknowledgments

The authors wish to thank the associate editor and reviewers who made some valuable suggestions to improve the paper significantly.

Author Contributions

Conceptualization and Methodology, X.L. and Z.Z.; Software and Validation, X.L.; Writing—Original Draft Preparation, X.L.; Writing—Review & Editing, Z.Z.

Ethics Statement

Not Applicable.

Informed Consent Statement

Not Applicable.

Funding

This work was supported by the National Natural Science Foundation of China (No. 62473020).

Declaration of Competing Interest

The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

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