Finite‐time tracking control of uncertain nonholonomic systems by state and output feedback |
| |
| Authors: | Shang Shi Shengyuan Xu Xin Yu Yongmin Li Zhengqiang Zhang |
| |
| Affiliation: | 1. School of Automation, Nanjing University of Science and Technology, Nanjing, China;2. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China;3. School of Science, Huzhou Teachers College, Huzhou, China;4. School of Electrical Engineering and Automation, Qufu Normal University, Rizhao, China |
| |
| Abstract: | This paper studies the finite‐time tracking control of nonholonomic systems in chained form with parameter uncertainties, unknown output gains, and mismatched uncertainties. To achieve the finite‐time tracking control of uncertain nonholonomic systems, we propose 2 types of controllers by state and output feedback, respectively. Both of the proposed 2 types of controllers can achieve the finite‐time output tracking control of the nonholonomic systems even in the presence of mismatched uncertainties and/or unknown gains. The effectiveness of our proposed controllers are illustrated with simulation examples. |
| |
| Keywords: | finite‐time tracking nonholonomic systems output feedback state feedback uncertainty |
|
|
