A finite-time tracker for nonholonomic systems using recursive singularity-free FTSM

A novel recursive singularity free FTSM (Fast Terminal Sliding Mode) strategy for finite time tracking control of nonholonomic systems is proposed. As a result, the singularity problem around the origin resulting from the fractional power of conventional terminal sliding mode is resolved. Simulation results are given for two benchmark examples of extended chained-form nonholonomic systems: a wheeled mobile robot and an under actuated surface vessel. The results show the effectiveness of the proposed strategy.