Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

Abstract EN

This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints.

The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique.

The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time.

As an application, a boat on a running river is given to show the effectiveness of the control scheme.