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Saleh Mobayen

Mobayen, S.
Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method
Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method
Abstract


This paper presents a new recursive terminal sliding mode strategy for tracking control of disturbed chained-form nonholonomic systems whose reference targets are allowed to converge to zero in finite-time with an exponential rate. By introducing time-varying coordinate transformation and designing a novel control law, the existence of the sliding mode around the terminal sliding surface is guaranteed. Simulation results are applied on two benchmark examples of chained-form nonholonomic systems: a wheeled mobile robot and an underactuated rigid body. The simulation results show the efficiency of the proposed method in the presence of external disturbances.

 

 

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