Finite-time cascaded tracking control approach for mobile robots

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	Finite-time cascaded tracking control approach for mobile robots
	Zhang, Yangming 1; Liu, Guorong 2; Luo, Biao1,3
刊名	INFORMATION SCIENCES
	2014-11-10
卷号	284 页码:31-43
关键词	Mobile robot Cascaded design Trajectory tracking Finite-time control Nonholonomic system Sliding mode control
英文摘要	This paper develops a new control approach for trajectory tracking of mobile robots. For the purpose of tracking trajectory, the error dynamics of a mobile robot are divided into a first-order subsystem and a second-order subsystem by using a cascaded control design. Firstly, a global finite-time control law of the angular velocity is designed for the first-order system in order to stabilize the angle error of mobile robots. Subsequently, a finite-time sliding mode control law of forward velocity is synthesized, which guarantees the global stability of the second-order subsystem. Furthermore, the global uniform stability of the whole closed-loop system is analyzed by employing cascaded control theory, and some sufficient conditions are derived. Finally, the proposed control algorithm is applied to mobile robots, where simulation results demonstrate good convergence and performance. (C) 2014 Elsevier Inc. All rights reserved.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Information Systems
研究领域[WOS]	Computer Science
关键词[WOS]	SLIDING MODE CONTROL ; NONHOLONOMIC MECHANICAL SYSTEMS ; UNIFORM ASYMPTOTIC STABILITY ; ADAPTIVE-CONTROL ; VARYING SYSTEMS ; EXPONENTIAL STABILIZATION ; TRAJECTORY TRACKING ; DYNAMIC-SYSTEMS ; CHAINED FORM ; DESIGN
收录类别	SCI
语种	英语
WOS记录号	WOS:000341677100003
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3853]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_智能化团队
作者单位	1.Beijing Univ Aeronaut & Astronaut, Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China 2.Hunan Inst Engn, Xiangtan 411104, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Yangming,Liu, Guorong,Luo, Biao. Finite-time cascaded tracking control approach for mobile robots[J]. INFORMATION SCIENCES,2014,284:31-43.
APA	Zhang, Yangming,Liu, Guorong,&Luo, Biao.(2014).Finite-time cascaded tracking control approach for mobile robots.INFORMATION SCIENCES,284,31-43.
MLA	Zhang, Yangming,et al."Finite-time cascaded tracking control approach for mobile robots".INFORMATION SCIENCES 284(2014):31-43.