Chapter 5 - Finite-Time Disturbance Observer-Based Tracking Control Design for Nonholonomic Systems

Abstract

This chapter proposes a disturbance observer-based terminal sliding mode control (TSMC) approach for a class of nonholonomic systems subject to unknown perturbations. The proposed approach integrates the robust stability properties of the sliding mode control with the compensation capacity of nonlinear disturbance observers. The TSMC disturbance observer is designed to guarantee the convergence of the disturbance estimation error in finite time. The control approach guarantees the convergence of the sliding variables in finite time. The proof of finite-time convergence is established using the Lyapunov theory. The performances of the proposed approach are assessed using a wheeled mobile robot. The proposed approach resulted in good tracking performance and chattering-free dynamics of the nonholonomic system.