Finite-time tracking control method for unmanned vehicle with external disturbance

被引：0
|
作者：
Li, Yan [1 ]
Zhang, Hao [1 ]
Wang, Zhuping [1 ]
机构：
[1] Tongji Univ, Dept Control Sci & Engn, Shanghai 200092, Peoples R China
来源：
2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2022年
基金：
中国国家自然科学基金;
关键词：
Unmanned vehicles; trajectory tracking; finite time control; nonlinear system; STABILIZATION;
D O I：
10.1109/CCDC55256.2022.10034103
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a finite-time tracking control scheme is proposed for unmanned vehicles. Considering the nonlinear effect of tires on vehicle models, the controller is designed to maintain the stability of unmanned vehicle trajectory tracking system. For the nominal system, a finite time control method is designed to make the unmanned vehicle track to the ideal trajectory; for the system with external disturbance, a combination of sliding mode control and finite-time tracking control is used to ensure that the tracking error converges to zero. The simulation results show that the vehicle stability control strategy based on this method has better tracking performance.
引用
收藏
页码：3517 / 3522
页数：6
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