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.
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收藏
页数：9
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