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Control of nonholonomic systems with uncertainties via second‐order sliding modes
Author(s) -
Ferrara Antonella,
Giacomini Luisa,
Vecchio Claudio
Publication year - 2007
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1202
Subject(s) - nonholonomic system , control theory (sociology) , robustness (evolution) , sliding mode control , manifold (fluid mechanics) , computer science , mode (computer interface) , class (philosophy) , point (geometry) , mathematics , control (management) , engineering , nonlinear system , artificial intelligence , robot , physics , mobile robot , mechanical engineering , biochemistry , chemistry , geometry , quantum mechanics , gene , operating system
Abstract The problem of controlling a class of nonholonomic systems affected by uncertainties is addressed in this paper. The idea is to apply the so‐called second‐order sliding mode control methodology. The crucial point is the necessity of reformulating the system model so as to make the uncertain terms appear in matched form. To this end, a suitable change of coordinates is performed and a peculiar sliding manifold is designed upon which a second‐order sliding mode is enforced. Apart from the robustness features, typical of the sliding mode approach, the proposed law has the advantage of being continuous, thus more acceptable in some applications such as those of mechanical nature. Copyright © 2007 John Wiley & Sons, Ltd.