Adaptive sliding mode control of uncertain high-order nonholonomic systems with unknown control coefficients

DOI10.1155/2013/427137MaRDI QIDQ473652zbMATH OpenOpenAlexWikidataFDO

Authors Yan Zhao

Publication date 24 November 2014

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1155/2013/427137

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Review text

Summary: This paper investigates the global stabilization problem for a class of high-order nonholonomic systems with unknown control coefficients and uncertain nonlinearities. An adaptive sliding mode control (SMC) law based on a constructive manipulation is proposed by adding a power integrator technique. A switching control strategy is employed in the control scheme to overcome the uncontrollability problem associated with the nonholonomic systems. The designed sliding mode controller could guarantee the attractiveness of the sliding surface \(S=0\) and achieve the asymptotical convergence of the state as well as the boundedness of the estimated parameters. A simulation example is provided to demonstrate the effectiveness of the proposed scheme.

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Cites work

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Cited in

(6)

• Stability analysis and variational integrator for real-time formation based on potential field
• On adaptive sliding mode control without a priori bounded uncertainty
• Adaptive sliding mode control for unknown uncertain non-linear systems with variable coefficients and disturbances
• High order sliding-mode control for uncertain nonlinear systems with relative degree three
• High-order sliding mode control design based on adaptive terminal sliding mode
• A novel modeling and controlling approach for high-order nonlinear systems

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