Paper Info
Title
Finite-time tracking controller design for a general class of nonholonomic systems
Abstract
A design scheme of the finite-time tracking controller is given for a general class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface systems, etc. By introducing a time-varying state transformation based on the concept of minimal dilation degree, this class of nonholonomic systems is transformed into a linear time-varying control systems. The combination of the switching technique and the terminal sliding mode control scheme with finite-time convergence result in the accurately track for the reference model in finite time under two control laws. Finally, the proposed method is applied to the finite-time tracking control of nonholonomic systems.
Year
DOI
Venue
2009
10.1109/CDC.2009.5400794
CDC
Keywords
Field
DocType
terminal sliding mode (tsm),terminal sliding mode control scheme,switching technique,linear time-varying control systems,extended power systems,finite-time convergence,time-varying systems,time-varying state transformation,control laws,control system synthesis,nonholonomic systems general class,finite-time tracking control,extended chained systems,nonholonomic systems,linear systems,underactuated surface systems,variable structure systems,finite-time tracking controller design,reference model,trajectory,convergence,automation,sliding mode control,switches,data mining,control system,power system,nonholonomic system
Control theory,Linear system,Reference model,Computer science,Control theory,Automation,Terminal sliding mode,Control system,Underactuation,Nonholonomic system
Conference
ISSN
ISBN
Citations 
0191-2216 E-ISBN : 978-1-4244-3872-3
978-1-4244-3872-3
0
PageRank 
References 
Authors
0.34
3
3
Name
Order
Citations
PageRank
Yuqiang Wu124928.64
Ruiying Yuan200.34
Xiuyun Zheng3175.42