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

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  • Wei Sun

Abstract

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.

Suggested Citation

  • Wei Sun, 2013. "Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems," Mathematical Problems in Engineering, Hindawi, vol. 2013, pages 1-9, July.
    • Handle: RePEc:hin:jnlmpe:734307
    DOI: 10.1155/2013/734307
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