Adaptive sliding-mode tracking control for a class of nonholonomic mechanical systems
Summary: This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme.
- Adaptive motion/force control of nonholonomic mechanical systems with affine constraints
- Finite-time sliding mode trajectory tracking control of uncertain mechanical systems
- Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method
- A mixed \(H_{2}/H_{\infty}\) adaptive tracking control for constrained non-holonomic systems.
- Adaptive finite-time control for uncertain nonlinear systems with application to mechanical systems
- A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators
- Adaptive control of nonlinearly parameterized systems: the smooth feedback case
- Adaptive tracking control of uncertain nonholonomic dynamic system
- Fast terminal sliding-mode control design for nonlinear dynamical systems
- Mathematical modelling and theoretical analysis of nonholonomic kinematic systems with a class of rheonomous affine constraints
- Non-singular terminal sliding mode control of rigid manipulators
- Robust adaptive motion/force control for wheeled inverted pendulums
- Robust motion/force control of mechanical systems with classical nonholonomic constraints
- Terminal sliding mode control design for uncertain dynamic systems
- Theoretical analysis for a class of rheonomous affine constraints on configuration manifolds. I: Fundamental properties and integrability/nonintegrability conditions
- Adaptive sliding mode control method based on nonlinear integral sliding surface for agricultural vehicle steering control
- A mixed \(H_{2}/H_{\infty}\) adaptive tracking control for constrained non-holonomic systems.
- Robust stabilization of extended nonholonomic chained-form systems with dynamic nonlinear uncertain terms by using active disturbance rejection control
- Multivariable binary adaptive control using higher-order sliding modes applied to inertially stabilized platforms
- Finite-time sliding mode trajectory tracking control of uncertain mechanical systems
- Adaptive moving sliding mode control for SISO systems: application to an electropneumatic system
- Adaptive motion/force control of nonholonomic mechanical systems with affine constraints
- Relay switching-based event-triggered finite-time tracking control for nonholonomic systems: theory and experiment
- Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method
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