Title :
A finite-time tracker for nonholonomic systems using recursive singularity-free FTSM
Author :
Mobayen, S. ; Yazdanpanah, M.J. ; Majd, Vahid Johari
Author_Institution :
Intell. Control Syst. Lab., Tarbiat Modares Univ., Tehran, Iran
fDate :
June 29 2011-July 1 2011
Abstract :
A novel recursive singularity free FTSM (Fast Terminal Sliding Mode) strategy for finite time tracking control of nonholonomic systems is proposed. As a result, the singularity problem around the origin resulting from the fractional power of conventional terminal sliding mode is resolved. Simulation results are given for two benchmark examples of extended chained-form nonholonomic systems: a wheeled mobile robot and an under actuated surface vessel. The results show the effectiveness of the proposed strategy.
Keywords :
mobile robots; nonlinear control systems; recursive estimation; target tracking; variable structure systems; wheels; FTSM; actuated surface vessel; fast terminal sliding mode; finite time tracker; nonholonomic systems; recursive singularity; wheeled mobile robot; Convergence; Equations; Mathematical model; Mobile robots; Tracking; Trajectory; Nonholonomic systems; fast terminal sliding mode (FTSM); finite-time tracking;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991040
