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Mathematical Problems in Engineering
Volume 2013, Article ID 734307, 9 pages
Research Article

Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

School of Automation, Southeast University, Nanjing 210096, China

Received 21 April 2013; Accepted 17 June 2013

Academic Editor: Yu Kang

Copyright © 2013 Wei Sun. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme.