Research on Finite-Time Sliding Mode Control Algorithm for Vehicle System

Abstract

This paper mainly studies the finite time sliding mode control of three-degree-of-freedom vehicle systems. For trajectory tracking, the performance of three sliding mode control schemes is discussed and compared from the aspects of finite arrival time, singularity and the chattering phenomenon of control input. Firstly, in each section, three kinds of sliding mode surfaces and controller designs of linear sliding mode control, traditional terminal sliding mode control and non-singular terminal sliding mode control are presented respectively. Then, the stability of ship sys-tem is analyzed by Lyapunov stability theorem and the validity of the theorem is proved by fi-陈雅楠