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- W4224221566 abstract "This work investigates the problem of fast tracking control for a class of high-order nonlinear systems subject to the matched disturbances. More particularly, a novel practical fixed-time disturbance observer is first presented by using a smooth hyperbolic tangent function. Then, a new nonsingular recursive-structure sliding mode surface is proposed based on the terminal sliding mode surface. With the reconstructed information deriving from the designed disturbance observer, a nonsingular recursive-structure sliding mode based finite-time tracking control approach incorporating with a new adaptive law is proposed to ensure the tracking errors converge to a small region of the origin in finite time. The finite-time stability of the closed-loop tracking control system driven by the proposed control scheme is analyzed and proved utilizing Lyapunov theory. And also, the proposed generalized control approach is applied to a mobile robotic experimental platform to achieve accurate trajectory tracking on the uneven ground. Finally, the numerical simulation and comparative experiment results demonstrate the effectiveness and superiority of the proposed approach." @default.
- W4224221566 created "2022-04-26" @default.
- W4224221566 creator A5048510347 @default.
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- W4224221566 creator A5054340394 @default.
- W4224221566 creator A5054835496 @default.
- W4224221566 date "2022-11-01" @default.
- W4224221566 modified "2023-10-18" @default.
- W4224221566 title "Nonsingular recursive-structure sliding mode control for high-order nonlinear systems and an application in a wheeled mobile robot" @default.
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- W4224221566 doi "https://doi.org/10.1016/j.isatra.2022.04.021" @default.
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