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

页码：4408 / 4413

页数：6

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