Finite-time tracking control for extended nonholonomic chained-form systems with parametric uncertainty and external disturbance

Abstract

In this paper, the finite-time tracking control problem is discussed for extended nonholonomic chained-form systems with parametric uncertainty, unmodeled nonlinear dynamics and external uncertain time-varying disturbances. Two decoupled subsystems are considered, for which an anti-interference controller is proposed by combining finite-time stability control theory and chattering-free sliding-mode design strategy in the presence of the uncertainty, nonlinearity and perturbation. Moreover, for the corresponding closed-loop systems under the given control law, rigorous finite-time stability analysis is presented at the origin equilibrium point. Finally, the main conclusions are applied to the trajectory tracking control of dynamic nonholonomic mobile robots with visual servoing feedback, and the simulation results show the effectiveness of our control design approach.

Moving Target Tracking of Extended Nonholonomic Chained-Form Systems via Finite-Time Switching Control

“…Considering the initial condition 1 (0) = 0, combining (22) and (26), the following posture can be proved:…”

“…Additionally, Haibo Du and Chunjiang Qian proposed a finite-time controller to solve finite-time attitude tracking problem for single spacecraft in [24]. Finite-time tracking control for extended nonholonomic chained-form systems with external disturbance and parametric uncertainty has been considered by Chen et al [25][26][27]. Nevertheless, moving target control scheme has seldom been utilized combining extended nonholonomic chained-form systems with external disturbances as represented in the published reports.…”

Robust Stabilization of Extended Nonholonomic Chained‐Form Systems with Dynamic Nonlinear Uncertain Terms by Using Active Disturbance Rejection Control

“…In recent years, more and more studies have been done on the stability of nonholonomic systems [27][28][29][30][31][32][33][34]. Yasir Awais Butt [3] proposed a robust switching controller based on discrete switching logic and ISM.…”

Differential evolution algorithm based tilt integral derivative control for LFC problem of an interconnected hydro-thermal power system

“…If the load demand increases, the output of the generator increases, and vice versa according to the deviation in system frequency. Other than the LFC problem, some of the reference-tracking control problems have been reported in the literature for aircraft control, wheeled mobile robots and underwater vehicles (Mobayen and Javadi, 2015; Mobayen, 2015a, 2015b, 2015c; Chen et al., 2016).…”