Finite-time tracking controller design for a general class of nonholonomic systems

被引：2
|
作者：
Wu, Yuqiang [1 ]
Yuan, Ruiying [1 ]
Zheng, Xiuyun [1 ]
机构：
[1] Qufu Normal Univ, Inst Automat, Qufu 273165, Shandong, Peoples R China
来源：
PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) | 2009年
关键词：
Nonholonomic systems; Finite-time tracking control; Terminal sliding mode (TSM); EXPONENTIAL STABILIZATION; DYNAMIC-SYSTEMS; CHAINED SYSTEMS; FORM;
D O I：
10.1109/CDC.2009.5400794
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A design scheme of the finite-time tracking controller is given for a general class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface systems, etc. By introducing a time-varying state transformation based on the concept of minimal dilation degree, this class of nonholonomic systems is transformed into a linear time-varying control systems. The combination of the switching technique and the terminal sliding mode control scheme with finite-time convergence result in the accurately track for the reference model in finite time under two control laws. Finally, the proposed method is applied to the finite-time tracking control of nonholonomic systems.
引用
收藏
页码：4408 / 4413
页数：6
相关论文
共 50 条
  • [1] Finite-time tracking controller design for nonholonomic systems with extended chained form
    Wu, YQ
    Wang, B
    Zong, GD
    IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, 2005, 52 (11) : 798 - 802
  • [2] Resilient Finite-Time Controller Design of a Class of Stochastic Nonlinear Systems
    Yan, Zhiguo
    ABSTRACT AND APPLIED ANALYSIS, 2014,
  • [3] Discontinuous finite-time tracking controller of nonholonomic mobile robots with unmeasurable velocity
    Shi, Shang
    Yu, Xin
    Liu, Guohai
    2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2015, : 5434 - 5439
  • [4] Finite-time stabilization of a general class of nonholonomic dynamic systems via terminal sliding mode
    Wu Y.-Q.
    Zhu C.-L.
    Zhang Z.-C.
    International Journal of Automation and Computing, 2016, 13 (6) : 585 - 595
  • [5] Finite-time Stabilization of a General Class of Nonholonomic Dynamic Systems via Terminal Sliding Mode
    Yu-Qiang Wu
    Cheng-Long Zhu
    Zhong-Cai Zhang
    International Journal of Automation and Computing, 2016, 13 (06) : 585 - 595
  • [6] Finite-Time Geometric Tracking Controller for Multirotor Systems
    An, Han-Hsuan
    Cheng, Teng-Hu
    IEEE ACCESS, 2022, 10 : 110905 - 110915
  • [7] Prescribed Time Tracking Controller for a Class of Nonholonomic Systems: Theory and Experiment
    Xu, Yongchang
    Cong, Yuhua
    Xing, Changda
    Wang, Zhisheng
    IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2024, 20 (06) : 8338 - 8346
  • [8] A Finite-time Sliding Mode Observer for a Class of Perturbed Nonholonomic Systems
    Thomas, Maria
    Bandyopadhyay, Bijnan
    Vachhani, Leena
    IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2018, : 2165 - 2170
  • [9] Finite-Time Stabilization of a Class of Uncertain Nonholonomic Systems with Output Constraint
    Gao, Fangzheng
    Shang, Yanling
    Liu, Yanhong
    2017 CHINESE AUTOMATION CONGRESS (CAC), 2017, : 1235 - 1240
  • [10] State Feedback Finite-time Tracking Controller of Nonholonomic Mobile Robot with Actuator Delay
    Xue, Qingyu
    Yu, Xin
    PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC), 2018, : 2832 - 2836
12345