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Finite‐time tracking control of uncertain nonholonomic systems by state and output feedback
Author(s) -
Shi Shang,
Xu Shengyuan,
Yu Xin,
Li Yongmin,
Zhang Zhengqiang
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3991
Subject(s) - nonholonomic system , control theory (sociology) , tracking (education) , control (management) , computer science , state (computer science) , control engineering , output feedback , engineering , robot , mobile robot , artificial intelligence , algorithm , psychology , pedagogy
Summary This paper studies the finite‐time tracking control of nonholonomic systems in chained form with parameter uncertainties, unknown output gains, and mismatched uncertainties. To achieve the finite‐time tracking control of uncertain nonholonomic systems, we propose 2 types of controllers by state and output feedback, respectively. Both of the proposed 2 types of controllers can achieve the finite‐time output tracking control of the nonholonomic systems even in the presence of mismatched uncertainties and/or unknown gains. The effectiveness of our proposed controllers are illustrated with simulation examples.