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Finite-time stabilization of a general class of nonholonomic dynamic systems via terminal sliding mode

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Abstract

This paper presents control strategies for finite-time stabilization of a class of nonholonomic dynamic systems with unknown virtual control coefficients and system parameters. The minimal dilation degree technique and the terminal sliding mode control scheme with finite-time convergence are used to design the controllers. The systematic control strategy development involves the introduction of state transformations and the application of recursive terminal sliding mode structure. Depending on whether the system in question can be converted into a time-invariant linear system or not, two control schemes are proposed respectively guaranteeing that system states converge to zero in finite time. The effectiveness and the robust feature of the developed control approaches are testified by two practical examples: the simplified underactuated hovercraft system and the parking problem for a mobile robot of the unicycle type.

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Author information

Authors and Affiliations

  1. College of Engineering, Qufu Normal University, Rizhao, 276826, China

    Yu-Qiang Wu & Cheng-Long Zhu

  2. School of Automation, Southeast University, Nanjing, 210096, China

    Zhong-Cai Zhang

Authors
  1. Yu-Qiang Wu
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  2. Cheng-Long Zhu
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  3. Zhong-Cai Zhang
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Corresponding author

Correspondence to Yu-Qiang Wu.

Additional information

This work was supported by National Natural Science Foundation of China (No. 61273091), Project of Taishan Scholar of Shandong Province of China, and the Ph.D. Programs Foundation of Ministry of Education of China.

Recommended by Associate Editor Yuan-Qing Xia

Yu-Qiang Wu graduated from Qufu Normal University, China in 1985. He received the M. Sc. degree from Qufu Normal University in 1988 and the Ph.D. degree from Southeast University, China in 1994. He is currently a professor in the College of Engineering, Qufu Normal University.

His research interests include variable structure control, switching control, nonlinear system control, and process control.

ORCID iD: 0000-0003-0775-6743

Cheng-Long Zhu graduated from Taishan University, China in 2012. He is currently a master student at the Institute of Automation, Qufu Normal University, China.

His research interests include variable structure control and underactuated system control.

Zhong-Cai Zhang graduated from Ludong University, China in 2010. He received his M. Sc. degree from Qufu Normal University, China in 2013. He is currently a Ph. D. candidate in the School of Automation, Southeast University, China.

His research interests include variable structure control and nonlinear system control.

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Wu, YQ., Zhu, CL. & Zhang, ZC. Finite-time stabilization of a general class of nonholonomic dynamic systems via terminal sliding mode. Int. J. Autom. Comput. 13, 585–595 (2016). https://doi.org/10.1007/s11633-015-0931-9

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  • DOI: https://doi.org/10.1007/s11633-015-0931-9

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