Target Tracking Algorithm Using Finite-time Convergence Smooth Second-order Sliding Mode Controller for Mobile Robots

作     者：GE Lianzheng ZHAO Lijun GAO Tong 

作者机构：State Key Laboratory of Robotics Technique and System Harbin Institute of Technology Harbin 150001 China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2011年第24卷第3期

页      面：414-419页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：supported by National Natural Science Foundation of China (Grant No. 61075081) State Key Laboratory of Robotics Technique and System Foundation,Harbin Institute of Technology,China(Grant No. SKIRS200802A02) 

主　　题：mobile robots second order sliding mode finite-time convergence observer 

摘      要：Target tracking control for wheeled mobile robot （WMR） need resolve the problems of kinematics model and tracking ***-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode *** there lacks the research of robustness and uncertain factors for high-order sliding mode *** address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is *** on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite *** the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is *** on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode *** simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.