Finite time convergence controller design for nonholonomic systems and its applications

摘要

A design scheme of the finite time convergence controller is given for nonholonomic systems with chained form. The relay switching technique and the terminal sliding mode control method with finite time convergence are used to the design of the controller. The global stability is guaranteed and the system states converge to the origin in finite time. Finally, the parking problem for the mobile robot of unicycle type in the presence of parametric uncertainties is addressed and its finite time convergence controller is designed by use of the proposed method. A simulation result is given to illustrate the application of the given method.