Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems. (Q1810579): Difference between revisions

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Latest revision as of 08:26, 30 July 2024

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Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems.
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    Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems. (English)
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    9 June 2003
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    This paper gives a new necessary and sufficient condition on the perturbation vectorfield in order to put a nonholonomic perturbed system into a perturbed one-chained form. Two different sliding mode control strategies are designed to robustly stabilize this chained system: -- one providing a practical stabilization -- the other performing a finite time convergence. A numerical simulation of an example of a monocycle-type mobile robot is provided.
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    perturbation
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    one-chained form
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    practical stabilization
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    mobile robot
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    higher-order sliding modes
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    nonholonomic systems
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    robust stabilization
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    finite time convergence
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