Finite-time tracking controller design for nonholonomic systems with extended chained form

被引：87
|
作者：
Wu, YQ [1 ]
Wang, B [1 ]
Zong, GD [1 ]
机构：
[1] Qufu Normal Univ, Res Inst, Qufu 273165, Peoples R China
来源：
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS | 2005年 / 52卷 / 11期
关键词：
finite-time tracking control; global stability; nonholonomic systems; terminal sliding mode (TSM);
D O I：
10.1109/TCSII.2005.852528
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A design scheme of the finite-time tracking controller is given for the nonholonomic systems with extended chained form. The relay switching technique and the terminal sliding mode control scheme with finite-time convergence are used to the design of the controller. The global stability is guaranteed and the system states accurately track the states of the reference model in finite time. The simulation results for two physical models of a knife-edge and a wheeled mobile robot have demonstrated the effectiveness of the proposed algorithm.
引用
收藏
页码：798 / 802
页数：5
相关论文
共 50 条
  • [1] Finite-time tracking control for extended nonholonomic chained-form systems with parametric uncertainty and external disturbance
    Chen, Hua
    Zhang, Binwu
    Zhao, Tiebiao
    Wang, Tingting
    Li, Kui
    [J]. JOURNAL OF VIBRATION AND CONTROL, 2018, 24 (01) : 100 - 109
  • [2] Moving Target Tracking of Extended Nonholonomic Chained-Form Systems via Finite-Time Switching Control
    Chen, Hua
    Chen, Lei
    Tong, Fei
    [J]. DISCRETE DYNAMICS IN NATURE AND SOCIETY, 2018, 2018
  • [3] Finite-time tracking controller design for a general class of nonholonomic systems
    Wu, Yuqiang
    Yuan, Ruiying
    Zheng, Xiuyun
    [J]. PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), 2009, : 4408 - 4413
  • [4] Robust Finite-Time Stabilization of Fractional-Order Extended Nonholonomic Chained Form Systems
    Chen, Hua
    Yan, Da
    Chen, Xi
    Lei, Yan
    Wang, Yawei
    [J]. PROCEEDINGS OF THE 2015 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL 2, 2016, 360 : 1 - 15
  • [5] Prescribed Finite-Time Consensus Tracking for Multiagent Systems with Nonholonomic Chained-Form Dynamics
    Ning, Boda
    Han, Qing-Long
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2019, 64 (04) : 1686 - 1693
  • [6] Finite-Time Discontinuous Control of Nonholonomic Chained-Form Systems
    Zhu, Wenwu
    Yu, Xinghuo
    Li, Shihua
    Du, Haibo
    [J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, 2023, 70 (06) : 2001 - 2005
  • [7] Finite-time Stabilization for Nonholonomic Chained Form Systems with Communication Delay
    Zhang, Hengjun
    Wang, Chaoli
    Wang, Gang
    [J]. JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE, 2014, 1 (01): : 39 - 44
  • [8] Finite-time Stabilization for Nonholonomic Chained Form Systems with Communication Delay
    Zhang, Hengjun
    Wang, Chaoli
    [J]. PROCEEDINGS OF INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB 2014), 2014, : 166 - 169
  • [9] Finite-Time Stabilization of High Order Nonholonomic Systems in Power Chained Form
    Gao, Fangzheng
    Yuan, Fushun
    Yao, Hejun
    [J]. 2011 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, 2011, : 1488 - 1492
  • [10] Global Finite-time Stabilization for a Class of Extended Nonholonomic Chained System
    Chen, Hua
    Cao, Haitao
    Wang, Yawei
    Lei, Yan
    Chen, Weixu
    [J]. 2014 INTERNATIONAL CONFERENCE ON MECHATRONICS AND CONTROL (ICMC), 2014, : 2211 - 2214
12345