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
  • [21] Adaptive sliding mode fuzzy control for a class of underactuated mechanical systems
    Guo, Weiping
    Liu, Diantong
    ADVANCED INTELLIGENT COMPUTING THEORIES AND APPLICATIONS: WITH ASPECTS OF THEORETICAL AND METHODOLOGICAL ISSUES, 2007, 4681 : 345 - +
  • [22] Global sliding-mode observers for a class of mechanical systems with disturbances
    Alejandro Apaza-Perez, W.
    Moreno, Jaime A.
    Fridman, Leonid M.
    IFAC PAPERSONLINE, 2016, 49 (18): : 440 - 445
  • [23] Stabilization of a Class of Uncertain Chaotic Systems via Robust Adaptive Sliding-mode Control
    Yang Liang
    Yang Jianying
    PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE, 2010, : 2258 - 2262
  • [24] Trajectory-Tracking Sliding-Mode Control of the Autonomous Wheelchair Modeled as a Nonholonomic WMR
    Filipescu, A.
    Solea, R.
    Filipescu, A., Jr.
    Stamatescu, G.
    Ciubucciu, G.
    2018 IEEE 14TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), 2018, : 1168 - 1173
  • [25] Adaptive Sliding-Mode Dynamic Controller for Nonholonomic Mobile Robots
    Amer, Ahmed F.
    Sallam, Elsayed A.
    Sultan, Ibrahim A.
    ICENCO 2016 - 2016 12TH INTERNATIONAL COMPUTER ENGINEERING CONFERENCE (ICENCO) - BOUNDLESS SMART SOCIETIES, 2016, : 230 - 235
  • [26] Control of a class of multibody underactuated mechanical systems with discontinuous friction using sliding-mode
    Liu, Yang
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2018, 40 (02) : 514 - 527
  • [27] Adaptive Neural Network Sliding Mode Tracking Control for a Class of Dynamic Systems
    Guo, Nai-Huan
    Xiong, Jing-Jing
    Zheng, En-Hui
    2019 6TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE 2019), 2019, : 659 - 662
  • [28] Dynamical adaptive sliding mode output tracking control of a class of nonlinear systems
    RiosBolivar, M
    Zinober, ASI
    SiraRamirez, H
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 1997, 7 (04) : 387 - 405
  • [29] Dynamical adaptive sliding mode output tracking control of a class of nonlinear systems
    Univ of Sheffield, Sheffield, United Kingdom
    Int J Robust Nonlinear Control, 4 (387-405):
  • [30] Discrete adaptive sliding-mode tracking controller
    Chan, CY
    AUTOMATICA, 1997, 33 (05) : 999 - 1002
12345