Abstract

In this paper, a recursive singularity-free fast terminal sliding mode control method which is able to avoid the possible singularity during the control phase, is applied for finite time tracking control of a class of non-holonomic systems. The reaching control law is proposed to guarantee the existence of the sliding mode around the fast terminal sliding surface and zero-tracking errors are achieved in finite time with an exponential decay rate. Simulation results are illustrated on three benchmark examples of chained-form non-holonomic systems: a wheeled mobile robot, an under-actuated rigid body and a front-wheel-drive car. The results demonstrate that the proposed control law achieves favorable tracking performance for non-holonomic systems.