Tracking controller of extended chained nonholonomic systems with matched disturbance and input saturation

Abstract

Abstract This paper addresses the tracking control for an extended chained nonholonomic system under input saturation and matched disturbances. Specifically, the tracking error dynamic system is split into two subsystems in a cascade form. An integral sliding mode saturated controller is designed in combination with a finite‐time observer (FTDO) to ensure the finite‐time stability of the first subsystem, thereby simplifying the design of the second subsystem. A backstepping‐based adaptive saturated tracking control method is proposed for the second subsystem by incorporating the filter technology. The stability of the resulting closed‐loop system is demonstrated, and the tracking errors can be arbitrarily minimized through the appropriate design parameter selection. The effectiveness of the proposed scheme is validated through simulation and experimental results.

Keywords

• active disturbance rejection control
• adaptive control