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CDC
2009
IEEE

Finite-time tracking controller design for a general class of nonholonomic systems

14 years 2 months ago
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 timevarying 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.
Yuqiang Wu, Ruiying Yuan, Xiuyun Zheng
Added 02 Sep 2010
Updated 02 Sep 2010
Type Conference
Year 2009
Where CDC
Authors Yuqiang Wu, Ruiying Yuan, Xiuyun Zheng
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