title: Finite-time tracking control of nth-order chained-form non-holonomic systems in the presence of disturbances.
abstract: This paper addresses the problem of finite-time tracking controller design for nth-order chained-form non-holonomic systems in the presence of unknown disturbances. To this aim, a generalized disturbance observer based controller is proposed and combined with a recursive terminal sliding mode approach which guarantees finite-time convergence of the disturbance observer dynamic. By introducing a time-varying transformation and introducing a new control law, the existence of the sliding around the recursive terminal sliding mode surfaces is guaranteed. Finally, the proposed approach is applied for a wheeled mobile robot with a fourth-order chained-form non-holonomic model. The simulation results demonstrate the desirable and robust tracking performance of the proposed approach in the presence of unknown disturbance.
authors.affiliation: Department of Engineering, University of Zanjan, Zanjan, Iran. Electronic address: bayat.farhad@znu.ac.ir.
authors.forename: Farhad
authors.initials: F
authors.lastname: Bayat
authors.affiliation: Department of Engineering, University of Zanjan, Zanjan, Iran. Electronic address: mobayen@znu.ac.ir.
authors.forename: Saleh
authors.initials: S
authors.lastname: Mobayen
authors.affiliation: Department of Engineering, University of Zanjan, Zanjan, Iran. Electronic address: sh.javadi@znu.ac.ir.
authors.forename: Shamsi
authors.initials: S
authors.lastname: Javadi
keywords: Chained-form non-holonomic nonlinear systems; Disturbance observer; Finite-time tracking control; Recursive terminal sliding mode