Adaptive Sliding Mode Tracking Control for Nonholonomic Wheeled Mobile Robots with Finite Time Convergence

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	Adaptive Sliding Mode Tracking Control for Nonholonomic Wheeled Mobile Robots with Finite Time Convergence; Adaptive Sliding Mode Tracking Control for Nonholonomic Wheeled Mobile Robots with Finite Time Convergence
	Li Xue ; Geng Zhiyong
	2017
关键词	nonholonomic wheeled mobile robots sliding mode control adaptive control finite time convergence trajectory tracking nonholonomic wheeled mobile robots sliding mode control adaptive control finite time convergence trajectory tracking
英文摘要	This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process, a fast variable is obtained to compensate for the unknown disturbance. Based on the Lyapunov stability analysis, it can be showed the finite time convergence in both reaching and sliding phase is achieved, and all closedloop signals are uniformly ultimately bounded. Finally simulation results are provided to demonstrate the effectiveness of the proposed control scheme.; This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process, a fast variable is obtained to compensate for the unknown disturbance. Based on the Lyapunov stability a; 中国自动化学会控制理论专业委员会; 6
会议录	第36届中国控制会议
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/479533]
专题	工学院
推荐引用方式 GB/T 7714	Li Xue,Geng Zhiyong. Adaptive Sliding Mode Tracking Control for Nonholonomic Wheeled Mobile Robots with Finite Time Convergence, Adaptive Sliding Mode Tracking Control for Nonholonomic Wheeled Mobile Robots with Finite Time Convergence[C]. 见:.