Chattering-free Finite-time Tracking Control Algorithms with Variable Structure for Mobile Robots
The trajectory-tracking problem for mobile robot is considered. A compound finite-time tracking control linearization algorithm base on feedback linearization and variable structure is proposed, and the reaching-control law is used to drive the steering angle trajectory with large inertial error exponentially toward the given switching surface neighborhood. When the steering angle trajectory is inside the neighborhood, the chattering-free control law based on continuous state-feedback drives the trajectory to the switching surface precisely while converting the original nonlinear system into a reduced system; state-feedback control law for the reduced system is then designed to stabilize the position error in finite time. Numerical simulations show the desired trajectory is attained fully in finite-time without chattering.
Mobile robot trajectory tracking finite time variable structure chattering-free
ZHOU Zhong-Hai YUAN Jian ZHANG Wen-Xia ZHAO Jin-Ping
College of Physical and Environmental Oceanography, Ocean University of China, Qingdao, 266100 Shand Shandong Provincial Key Laboratory of Ocean Environment Monitoring Technology, Qingdao, 266001 Insti Mechanical & Electrical Engineering Department, Qindao College, Qingdao Shandong, 266016 College of Physical and Environmental Oceanography, Ocean University of China, Qingdao, 266100
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
1349-1354
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）