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Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method

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Abstract

This paper presents a new recursive terminal sliding mode strategy for tracking control of disturbed chained-form nonholonomic systems whose reference targets are allowed to converge to zero in finite time with an exponential rate. By introducing time-varying coordinate transformation and designing a novel control law, the existence of the sliding mode around the terminal sliding surface is guaranteed. Simulation results are applied on two benchmark examples of chained-form nonholonomic systems: a wheeled mobile robot and an underactuated rigid body. The simulation results show the efficiency of the proposed method in the presence of external disturbances.

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Authors and Affiliations

  1. Electrical Engineering Department, University of Zanjan, P.O. Box 38791-45371, Zanjan, Iran

    Saleh Mobayen

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  1. Saleh Mobayen
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Correspondence to Saleh Mobayen.

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Mobayen, S. Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method. Nonlinear Dyn 80, 669–683 (2015). https://doi.org/10.1007/s11071-015-1897-4

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  • DOI: https://doi.org/10.1007/s11071-015-1897-4

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