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Integrated adaptive terminal sliding mode control for uncertain nonholonomic control systems with RAKC

This paper is concerned with the integrated adaptive terminal sliding mode tracking control problem for uncertain nonholonomic control systems with rheonomous affine kinematic constraints(RAKC) in the presence of perturbations. Based on the D'Alembert-Lagrange principle and rheonomous affine kinematic constraints equation, the dynamical model of the uncertain nonholonomic control systems with RAKC is firstly established. Then a fast terminal sliding mode(TSM) surface is designed technically to realize fast convergence, and a switching-based integrated adaptive terminal sliding mode controller is designed to make the output tracking error converges to zero in a finite time. Furthermore, the control strategy proposed can be applied to the general uncertain nonholonomic control systems with linear constraints. The proposed controller applied to the analysis of a boat on a running river with time-varying stream and simulation is carried out to illustrate the potential and effectiveness of the method at last.