{"title":"Trajectory tracking control for mobile robots based on second order fast terminal sliding mode","authors":"Wang Hui, Huang Yiqing, Ge Yuan, Gao Wengen","doi":"10.1109/YAC.2018.8406441","DOIUrl":null,"url":null,"abstract":"In order to realize the trajectory tracking control of mobile robots, a global fast terminal sliding mode control method is proposed in the kinematic analysis. Based on the combination of the backstepping method and the thought of the fast terminal sliding mode control, the method is more superior than the backstepping design method on convergence time and convergence rate. The system state variables are designed based on based backstepping method, then, the controller is applied to mobile robot system by recursive structure of second order fast terminal sliding mode, the control law is designed by Lyapunov method. Finally, simulation results show the validity of the presented method.","PeriodicalId":226586,"journal":{"name":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2018-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 33rd Youth Academic Annual Conference of Chinese Association of Automation (YAC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/YAC.2018.8406441","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
In order to realize the trajectory tracking control of mobile robots, a global fast terminal sliding mode control method is proposed in the kinematic analysis. Based on the combination of the backstepping method and the thought of the fast terminal sliding mode control, the method is more superior than the backstepping design method on convergence time and convergence rate. The system state variables are designed based on based backstepping method, then, the controller is applied to mobile robot system by recursive structure of second order fast terminal sliding mode, the control law is designed by Lyapunov method. Finally, simulation results show the validity of the presented method.
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