Abstract

HFTVSC for nonholonomic systems with AKC

Author(s): Peiyu Wei

In this paper, a hybrid finite time variable structure controller(HFTVSC) guaranteeing the system global stability and finite time convergence for uncertain nonholonomic systems with affine kinematic constraints is proposed. Making use of the elementary transformation This paper proposes a global variable structure relay control scheme with finite time convergence for the nonholonomic control systems with affine kinematic constraints by the dynamical model of the nonholonomic control systems with affine kinematic constraints(ACK),The chattering can be eliminated since the proposed terminal sliding mode controller doesn’t include switching item


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