Moving Target Tracking of Extended Nonholonomic Chained-Form Systems via Finite-Time Switching Control

被引：1
|
作者：
Chen, Hua [1 ]
Chen, Lei [2 ]
Tong, Fei [2 ]
机构：
[1] Hohai Univ, Math & Phys Dept, Changzhou Campus, Changzhou 213022, Peoples R China
[2] Hohai Univ, Coll Internet Things Engn, Changzhou 213022, Peoples R China
来源：
DISCRETE DYNAMICS IN NATURE AND SOCIETY | 2018年 / 2018卷
关键词：
MOBILE ROBOTS; STABILIZATION; DESIGN;
D O I：
10.1155/2018/3801849
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
A finite-time switching control scheme is presented for tracking a practical moving target of extended nonholonomic chained-form systems. Firstly, a dynamic output tracking error model is proposed combining moving target and extended nonholonomic chained-form systems. Secondly, two decoupled subsystems are considered for the tracking error systems, based on which the rigorous convergence and stability analysis are proposed by applying the finite-time stability control theory and switching design methods. Finally, the effectiveness of the proposed finite-time switching control approach is performed according to the further simulation results.
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页数：8
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