会议专题

ROBUST DYNAMICAL SLIDING MODE CONTROL OF A CLASS OF NONHOLONOMIC SYSTEMS

The output tracking control problem of a class of nonholonomic systems with unmodelled dynamics and external disturbance in the generalized coordinate space is studied. A robust dynamical sliding mode controller is devised to achieve output tracking of the nonholonomic systems. The reduced dynamic model is developed for nonholonomic systems. The system is then decomposed into lower dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the reduced model. The design of the robust dynamical sliding mode controller is also addressed for the output tracking of the nonholonomic systems. The results of numerical simulation verify that the robust dynamical sliding mode controller can not only track the given trajectory but also considerably reduce the chattering of sliding mode control systems.

Dynamical sliding mode Robust control Nonholonomic system

HUA LIU YU-XIANG WU

College of Information and Electromechanical Engineering, Guangzhou University, Guangzhou 510006 College of Automation Science and Engineering, South China University of Technology, Guangzhou 51064

国际会议

2006 International Conference on Machine Learning and Cybernetics(IEEE第五届机器学习与控制论坛)

大连

英文

791-796

2006-08-13(万方平台首次上网日期,不代表论文的发表时间)