Moving Target Tracking of Extended Nonholonomic Chained-Form Systems via Finite-Time Switching Control

Hua Chen,Fei Tong,Lei Chen

doi:10.1155/2018/3801849

Abstract

A finite-time switching control scheme is presented for tracking a practical moving target of extended nonholonomic chained-form systems. Firstly, a dynamic output tracking error model is proposed combining moving target and extended nonholonomic chained-form systems. Secondly, two decoupled subsystems are considered for the tracking error systems, based on which the rigorous convergence and stability analysis are proposed by applying the finite-time stability control theory and switching design methods. Finally, the effectiveness of the proposed finite-time switching control approach is performed according to the further simulation results.

Highlights

In the past few years, nonholonomic systems especially their extended version ([1, 2]) have received considerable attention
Large amounts of research have been conducted adaptively, such as wheeled mobile robots, free-floating space robots, and tractor-trailer systems depicted in articles [3, 4]
Zhiqiang Miao et al [5] recently have implemented some research on moving target with multiple nonholonomic robots using backstepping design to ensure asymptotic convergence of the robot group to the desired proposal

Summary

Introduction

In the past few years, nonholonomic systems especially their extended version ([1, 2]) have received considerable attention. Zhiqiang Miao et al [5] recently have implemented some research on moving target with multiple nonholonomic robots using backstepping design to ensure asymptotic convergence of the robot group to the desired proposal When it comes to the tracking problem, there still exist great challenges for the available tracking error systems to stabilize using smooth feedback control laws among the control community [6,7,8,9]. For the sake of eliminating the moving target control problem concerning a dynamic output tracking error model, which combines moving target and extended nonholonomic chained-form systems, this paper puts forward a more general target tracking implementation using finite-time controllers. According to the verification above, the stabilization regarding the tracking error model is ensured successfully

Problem Statement

Main Results

Simulations

Conclusion