Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems. (Q1810579): Difference between revisions
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scientific article
| Language | Label | Description | Also known as |
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| English | 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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