Smooth super twisting sliding mode based steering control for nonholonomic systems transformable into chained form

Title:

Smooth super twisting sliding mode based steering control for nonholonomic systems transformable into chained form

Creator:

Abbasi, Waseem, ur Rehman, Fazl, and Shah, Ibrahim

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:5866e8d4-adf8-46a3-a8ad-c1d24d9a9af8
uuid:5866e8d4-adf8-46a3-a8ad-c1d24d9a9af8
doi:10.14736/kyb-2018-3-0476

Subject:

nonholonomic mechanical systems, chained form, steering control, and smooth super twisting sliding mode control and lyapunov function

Type:

model:article and TEXT

Format:

bez média and svazek

Description:

In this article, a new solution to the steering control problem of nonholonomic systems, which are transformable into chained form is investigated. A smooth super twisting sliding mode control technique is used to steer nonholonomic systems. Firstly, the nonholonomic system is transformed into a chained form system, which is further decomposed into two subsystems. Secondly, the second subsystem is steered to the origin by using smooth super twisting sliding mode control. Finally, the first subsystem is steered to zero using signum function. The proposed method is tested on three nonholonomic systems, which are transformable into chained form; a two-wheel car model, a model of front-wheel car, and a fire truck model. Numerical computer simulations show the effectiveness of the proposed method when applied to chained form nonholonomic systems.

Language:

English

Rights:

http://creativecommons.org/publicdomain/mark/1.0/
policy:public

Source:

Kybernetika | 2018 Volume:54 | Number:3

Harvested from:

CDK

Metadata only:

false