Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems

This paper deals with nonholonomic perturbed systems. Necessary and sufficient geometric conditions on the perturbation vector field are given in order to put the system into a perturbed one-chained form. Two different sliding mode control strategies are then designed to robustly stabilize, under so...

Full description

Saved in:
Bibliographic Details
Published in:Automatica (Oxford) 2003-06, Vol.39 (6), p.1077-1083
Main Authors: Floquet, Thierry, Barbot, Jean-Pierre, Perruquetti, Wilfrid
Format: Article
Language:English
Subjects:
Applied sciences
Automatic Control Engineering
Computer Science
Computer science
control theory
systems
Control system analysis
Control system synthesis
Control theory. Systems
Exact sciences and technology
Finite time convergence
Higher-order sliding modes
Nonholonomic systems
Robust stabilization
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper deals with nonholonomic perturbed systems. Necessary and sufficient geometric conditions on the perturbation vector field are given in order to put the system into a perturbed one-chained form. Two different sliding mode control strategies are then designed to robustly stabilize, under some conditions, this chained system: one providing a practical stabilization, the other performing a finite time convergence. As a way of illustration, simulations on the example of the unicycle-type mobile robot are presented.
ISSN:0005-1098
1873-2836
DOI:10.1016/S0005-1098(03)00076-1