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Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems
Joint Authors
Wang, Hongbin
Ce, Hao
Xiaoyan, Cheng
Zhen, Zhou
Shungang, Ge
Zhongquan, Hu
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-05-09
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
A continuous finite-time robust control method for the trajectory tracking control of a nonholonomic wheeled mobile robot (NWMR) is presented in this paper.
The proposed approach is composed of conventional sliding-mode control (SMC) in the internal loop and modified switched second-order sliding-mode (S-SOSM) control in the external loop.
Sliding-mode controller is equivalently represented as stabilization of the nominal system without uncertainties.
An S-SOSM control algorithm is employed to counteract the impact of state-dependent unmodeled dynamics and time-varying external disturbances, and the unexpected chattering has been attenuated significantly.
Particularly, state-space partitioning is constructed to obtain the bounds of uncertainty terms and accomplish different control objectives under different requirements.
Simulation and experiment results are used to demonstrate the effectiveness and applicability of the proposed approach.
American Psychological Association (APA)
Ce, Hao& Wang, Hongbin& Xiaoyan, Cheng& Zhen, Zhou& Shungang, Ge& Zhongquan, Hu. 2018. Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems. Complexity،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1132854
Modern Language Association (MLA)
Ce, Hao…[et al.]. Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems. Complexity No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1132854
American Medical Association (AMA)
Ce, Hao& Wang, Hongbin& Xiaoyan, Cheng& Zhen, Zhou& Shungang, Ge& Zhongquan, Hu. Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems. Complexity. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1132854
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1132854