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.