Switching-based robust tracking control for nonholonomic constrained mechanical systems

This article considers the trajectory tracking control problem for nonholonomic systems in presence of both kinematic and dynamic parametric uncertainty. Depending on whether the upper bound of the uncertainties in system matrices is known or not, relay switching control and adaptive relay switching control strategies are proposed, respectively. The development of the presented control algorithms is based on terminal sliding mode(TSM) control technique. It is shown that the boundedness of control signal in each case is guaranteed and the singularity phenomenon is avoided. The global finite time stability and asymptotic stability results are obtained in the Lyapunov sense. A detailed simulation example is provided to illustrate the effectiveness of the developed method.