Full metadata record
DC Field | Value | Language |
---|---|---|
dc.citation.number | 4 | - |
dc.citation.startPage | 549 | - |
dc.citation.title | MATHEMATICS | - |
dc.citation.volume | 12 | - |
dc.contributor.author | Vo, Cong Phat | - |
dc.contributor.author | Hoang, Quoc Hung | - |
dc.contributor.author | Kim, Tae-Hyun | - |
dc.contributor.author | Jeon, Jeong hwan | - |
dc.date.accessioned | 2024-08-12T10:05:20Z | - |
dc.date.available | 2024-08-12T10:05:20Z | - |
dc.date.created | 2024-03-18 | - |
dc.date.issued | 2024-02 | - |
dc.description.abstract | This work presents a finite-time robust path-following control scheme for perturbed autonomous ground vehicles. Specifically, a novel self-tuning nonsingular fast-terminal sliding manifold that further enhances the convergence rate and tracking accuracy is proposed. Then, uncertain dynamics and external disturbances are estimated by a high-gain disturbance observer to compensate for the designed control input. Successively, a super-twisting algorithm is incorporated into the final control law, significantly mitigating the chattering phenomenon of both the input control signal and the output trajectory. Furthermore, the global finite-time convergence and stability of the whole proposed control algorithm are proven by the Lyapunov theory. Finally, the efficacy of the proposed method is validated with comparisons in a numerical example. It obtains high control performance, reduced chattering, fast convergence rate, singularity avoidance, and robustness against uncertainties. | - |
dc.identifier.bibliographicCitation | MATHEMATICS, v.12, no.4, pp.549 | - |
dc.identifier.doi | 10.3390/math12040549 | - |
dc.identifier.issn | 2227-7390 | - |
dc.identifier.scopusid | 2-s2.0-85187263848 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/83463 | - |
dc.identifier.wosid | 001169735300001 | - |
dc.language | 영어 | - |
dc.publisher | MDPI | - |
dc.title | Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold | - |
dc.type | Article | - |
dc.description.isOpenAccess | TRUE | - |
dc.relation.journalWebOfScienceCategory | Mathematics | - |
dc.relation.journalResearchArea | Mathematics | - |
dc.type.docType | Article | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordAuthor | nonsingular fast terminal sliding mode manifold | - |
dc.subject.keywordAuthor | self-tuning rule | - |
dc.subject.keywordAuthor | robust control | - |
dc.subject.keywordAuthor | finite-time convergence | - |
dc.subject.keywordAuthor | autonomous ground vehicles | - |
dc.subject.keywordAuthor | disturbance observer | - |
dc.subject.keywordAuthor | Lyapunov approach | - |
dc.subject.keywordPlus | WHEELED MOBILE ROBOTS | - |
dc.subject.keywordPlus | MODE CONTROL | - |
dc.subject.keywordPlus | TRACKING CONTROL | - |
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