Finite-time tracking control of nth-order chained-form non-holonomic systems in the presence of disturbances |
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Affiliation: | 1. Department of Electrical Engineering, University of Zanjan, Zanjan, Iran;2. Department of Physics, Lanzhou University of Technology, Lanzhou 730050, China |
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Abstract: | This paper addresses the problem of finite-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 finite-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 non-holonomic 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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Keywords: | Chained-form non-holonomic nonlinear systems Recursive terminal sliding mode Finite-time tracking control Disturbance observer |
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