Fast terminal sliding mode tracking controller design for nonholonomic mobile robot

被引：0
|
作者：
Wu, Qing-Yun [1 ]
Yan, Mao-De [1 ]
He, Yu-Yao [1 ]
机构：
[1] School of Information Engineering, Chang'an Univ., Xi'an 710064, China
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2007年 / 29卷 / 12期
关键词：
Control equipment - Control systems - Dynamic models - Sliding mode control - Trajectories;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In order to realize the trajectory tracking control of mobile robots, a fast terminal sliding mode tracking controller based on the dynamic model is presented for nonholonomic mobile robot. Based on the combination of the backstepping method and the thought of the fast terminal sliding mode control, the controller can make the mobile robot track the desired trajectory in the global sense as well as in finite time. The method of the controller breaks down the nonholonomic mobile robot system into low dimensional subsystem and simplifies the controller design using virtual control inputs. Moreover, the controller design process is very easy. Simulation results are provided to illustrate the correctness and flexibility of the controller.
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页码：2127 / 2130
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