Moving Target Tracking of Extended Nonholonomic Chained-Form Systems via Finite-Time Switching Control

الملخص EN

A finite-time switching control scheme is presented for tracking a practical moving target of extended nonholonomic chained-form systems.

Firstly, a dynamic output tracking error model is proposed combining moving target and extended nonholonomic chained-form systems.

Secondly, two decoupled subsystems are considered for the tracking error systems, based on which the rigorous convergence and stability analysis are proposed by applying the finite-time stability control theory and switching design methods.

Finally, the effectiveness of the proposed finite-time switching control approach is performed according to the further simulation results.