Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

Wei Sun

Mathematical Problems in Engineering, 2013, vol. 2013, 1-9

Abstract:

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.

Date: 2013
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:734307

DOI: 10.1155/2013/734307

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