Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

被引：3
|
作者：
Sun, Wei [1 ]
机构：
[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China
来源：
MATHEMATICAL PROBLEMS IN ENGINEERING | 2013年 / 2013卷
基金：
中国国家自然科学基金;
关键词：
MOTION/FORCE CONTROL; CONTROL DESIGN;
D O I：
10.1155/2013/734307
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme.
引用
收藏
页数：9
相关论文
共 50 条
  • [1] Distributed sliding-mode tracking control for multiple mechanical systems
    Ma, Guangfu
    Sun, Yanchao
    Wang, Jun
    Li, Chuanjiang
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2017, 231 (19) : 3504 - 3515
  • [2] Discrete adaptive sliding-mode control of a class of stochastic systems
    Chan, CY
    AUTOMATICA, 1999, 35 (08) : 1491 - 1498
  • [3] Discrete adaptive sliding-mode control of a class of stochastic systems
    Sch. of Elec. and Electronic Eng., Block SI, Nanyang Technological University, Nanyang Avenue, Singapore 639798, Singapore
    Automatica, 8 (1491-1498):
  • [4] Adaptive Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot
    Koubaa, Yasmine
    Boukattaya, Mohamed
    Damak, Tarak
    201415th International Conference on Sciences & Techniques of Automatic Control & Computer Engineering (STA'2014), 2014, : 336 - 342
  • [5] Sliding mode and adaptive sliding-mode control of a class of nonlinear bioprocesses
    Selisteanu, Dan
    Petre, Emil
    Rasvan, Vladimir B.
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2007, 21 (8-9) : 795 - 822
  • [6] Adaptive Motion/Force Tracking Control for a Class of Nonholonomic Mechanical Systems
    Sun, Wei
    Wu, Yu-qiang
    2014 INTERNATIONAL CONFERENCE ON AUTOMATIC CONTROL THEORY AND APPLICATION, 2014, : 133 - 136
  • [7] Adaptive Fuzzy Sliding-Mode Control for a Class of Nonlinear Systems with Uncertainties
    Han, Hugang
    IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ 2011), 2011, : 1320 - 1326
  • [8] Adaptive sliding-mode iterative learning control for a class of uncertain systems
    Shi H.-H.
    Chen Q.
    Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2023, 40 (07): : 1162 - 1171
  • [9] Steering Algorithm for Nonholonomic Mechanical Systems using Adaptive Sliding Mode Control
    Abbasi, Waseem
    Rehman, Fazal Ur
    Shah, Ibrahim
    2017 AEIT INTERNATIONAL ANNUAL CONFERENCE, 2017,
  • [10] Adaptive sliding mode tracking control of nonholonomic mobile robot
    Yan, Mao-De
    Wu, Qing-Yun
    He, Yu-Yao
    Xitong Fangzhen Xuebao / Journal of System Simulation, 2007, 19 (03): : 579 - 581
12345