Finite-time tracking control of nth-order chained-form non-holonomic systems in the presence of disturbances

Farhad Bayat; Saleh Mobayen; Shamsi Javadi

doi:10.1016/j.isatra.2016.02.023

Finite-time tracking control of nth-order chained-form non-holonomic systems in the presence of disturbances

ISA Trans. 2016 Jul:63:78-83. doi: 10.1016/j.isatra.2016.02.023. Epub 2016 Apr 20.

Authors

Farhad Bayat¹, Saleh Mobayen², Shamsi Javadi³

Affiliations

¹ Department of Engineering, University of Zanjan, Zanjan, Iran. Electronic address: bayat.farhad@znu.ac.ir.
² Department of Engineering, University of Zanjan, Zanjan, Iran. Electronic address: mobayen@znu.ac.ir.
³ Department of Engineering, University of Zanjan, Zanjan, Iran. Electronic address: sh.javadi@znu.ac.ir.

PMID: 27000631
DOI: 10.1016/j.isatra.2016.02.023

Abstract

This paper addresses the problem of finite-time tracking controller design for nth-order chained-form non-holonomic systems in the presence of unknown disturbances. To this aim, a generalized disturbance observer based controller is proposed and combined with a recursive terminal sliding mode approach which guarantees finite-time convergence of the disturbance observer dynamic. By introducing a time-varying transformation and introducing a new control law, the existence of the sliding around the recursive terminal sliding mode surfaces is guaranteed. Finally, the proposed approach is applied for a wheeled mobile robot with a fourth-order chained-form non-holonomic model. The simulation results demonstrate the desirable and robust tracking performance of the proposed approach in the presence of unknown disturbance.

Keywords: Chained-form non-holonomic nonlinear systems; Disturbance observer; Finite-time tracking control; Recursive terminal sliding mode.