Finite-time tracking control for extended nonholonomic chained-form systems with parametric uncertainty and external disturbance

In this paper, the finite-time tracking control problem is discussed for extended nonholonomic chained-form systems with parametric uncertainty, unmodeled nonlinear dynamics and external uncertain time-varying disturbances. Two decoupled subsystems are considered, for which an anti-interference controller is proposed by combining finite-time stability control theory and chattering-free sliding-mode design strategy in the presence of the uncertainty, nonlinearity and perturbation. Moreover, for the corresponding closed-loop systems under the given control law, rigorous finite-time stability analysis is presented at the origin equilibrium point. Finally, the main conclusions are applied to the trajectory tracking control of dynamic nonholonomic mobile robots with visual servoing feedback, and the simulation results show the effectiveness of our control design approach.