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Saleh Mobayen

Bayat, F., Mobayen, S., Javadi, S.
Finite-time tracking control of n^th-order chained-form non-holonomic systems in the presence of disturbances
Finite-time tracking control of n^th-order chained-form non-holonomic systems in the presence of disturbances
Abstract


This paper addresses the problem of nite-time tracking controller design for nth-order chained-form non-holonomic systems in the presence of unknown disturbances. To this aim, a generalized disturbance observer based controller is proposed and combined with a recursive terminal sliding mode approach which guarantees nite-time convergence of the disturbance observer dynamic. By introducing a time-varying transformation and introducing a new control law, the existence of the sliding around the recursive terminal sliding mode surfaces is guaranteed. Finally, the proposed approach is applied for a wheeled mobile robot with a fourth-order chained-form nonholonomic model. The simulation results demonstrate the desirable and robust tracking performance of the proposed approach in the presence of unknown disturbance.

 

 

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