In this paper, a finite time control strategy is proposed for the posture stabilization of a unicycle type mobile robot. The underlying bilinear structure of the chained system of the unicycle is exploited to develop the control strategy which involves switching between two continuous finite time controllers. The chained system is analysed as two subsystems. A homogeneity based finite time controller is used to stabilize the first subsystem in finite time and thereafter the Super Twisting Algorithm is employed for the finite time stabilization of the second subsystem. Simulations are performed for the proposed scheme and the mathematical results are validated. © 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Bijnan Bandyopadhyay

Department of Electrical Engineering

IIT Jodhpur

M. Thomas

L. Vachhani

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Journal	IFAC-PapersOnLine
Publisher	Elsevier B.V.
ISSN	24058963