Handling constraint avoidance and finite time switching control for simulated mobile robots

In this paper we first consider the finite time control of a simulated point mass mobile robot with acceleration control to a target point within a closed square defined by constraint boundaries. It is shown how to incorporate the potential functions associated w'ith constraint boundaries directly into the sliding mode parameter terms of Liapunov function which yields a very simple controller for control to the target point and also ensure avoidance of the constraint boundaries. We also discuss the resulting 'sliding mode' surfaces and their role in enabling the point mass to be controlled to a specific target point. The analysis is extended to the simulated control of two point masses to respective targets within the square.