文章基本信息

标题：The Design of Fast Terminal Sliding Mode Kinematic Control for Wheeled Mobile Robots
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作者：Hosein Ghasemi ; Behrooz Rezaie ; Zahra Rahmani 等
期刊名称：International Journal of Mechatronics, Electrical and Computer Technology
印刷版ISSN：2305-0543
出版年度：2014
卷号：4
期号：11
页码：680-692
出版社：Austrian E-Journals of Universal Scientific Organization
摘要：This paper addresses the motion control problem of wheeled mobile robots as a class of nonholonomic systems. The proposed control method is based on fast terminal sliding mode control in which the control objective is trajectory tacking. In order to design a terminal sliding mode control for this class of systems, we use extended chained form of the wheeled mobile robot. The proposed method leads to finite time convergent tracking of nonholonomic systems. Simulation results show the applicability and the effectiveness of the proposed method.
关键词：Fast Terminal sliding mode; nonholonomic systems; wheeled mobile robot; kinemat ic model; chained form