Robust motion control for nonholonomic constrained mechanical systems: Sliding mode approach

被引：11
|
作者：
Song, ZZ [1 ]
Zhao, DB [1 ]
Yi, JQ [1 ]
Li, XC [1 ]
机构：
[1] Chinese Acad Sci, Lab Complex Syst & Intelligence Sci, Inst Automat, Beijing 100080, Peoples R China
来源：
ACC: PROCEEDINGS OF THE 2005 AMERICAN CONTROL CONFERENCE, VOLS 1-7 | 2005年
关键词：
WHEELED MOBILE ROBOTS; TRACKING CONTROL; TRAJECTORY TRACKING; FORCE CONTROL; STABILIZATION;
D O I：
10.1109/ACC.2005.1470408
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the robust trajectory tracking problem for a general class of nonholonomic systems with velocity constraints in the presence of uncertainties. The development of the proposed algorithm is based on sliding mode control technique. First, for the purpose of designing controllers, the conservative upper-bounded function of dynamics model of nonholonomic systems is derived based on the dynamics structure properties. Then, a sliding mode control scheme is presented to guarantee trajectory tracking of closed-loop system. The asymptotical or exponential stability is obtained in the Lyanupov sense. Finally, simulation examples are given to demonstrate the proposed approach.
引用
收藏
页码：2883 / 2888
页数：6
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