Adaptive Sliding Mode Tracking Control for Nonholonomic Wheeled Mobile Robots with Finite Time Convergence
作者单位：The State Key Laboratory for Turbulence and Complex Systems of Peking University Department of Mechanics and Engineering ScienceCollege of Engineering.Peking University
会议名称：《第36届中国控制会议》
会议届次：36
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by National Natural Science Foundation (NNSF) of China under Grant 61374033
关 键 词：nonholonomic wheeled mobile robots sliding mode control adaptive control finite time convergence trajectory tracking
摘 要：This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot’s moving process, a fast variable is obtained to compensate for the unknown disturbance. Based on the Lyapunov stability analysis, it can be showed the finite time convergence in both reaching and sliding phase is achieved, and all closedloop signals are uniformly ultimately bounded. Finally simulation results are provided to demonstrate the effectiveness of the proposed control scheme.