Higher order sliding mode stabilization for a class of nonholonomic perturbed system

Thierry Floquet 1, 2 Jean-Pierre Barbot 3 Wilfrid Perruquetti 1, 2, 4
1 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper deals with nonholonomic perturbed systems. Necessary and sufficient geometric conditions on the perturbation vector field are given in order to put the system into a perturbed one-chained form. Two different sliding mode control strategies are then designed to robustly stabilize, under some conditions, this chained system: one providing a practical stabilization, the other performing a finite time convergence. As a way of illustration, simulations on the example of the unicycle-type mobile robot are presented.
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Journal articles
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https://hal.inria.fr/hal-00762285
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Submitted on : Thursday, December 6, 2012 - 5:59:02 PM
Last modification on : Friday, March 22, 2019 - 1:34:54 AM

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Thierry Floquet, Jean-Pierre Barbot, Wilfrid Perruquetti. Higher order sliding mode stabilization for a class of nonholonomic perturbed system. Automatica, Elsevier, 2003, 39 (6This paper deals with nonholonomic perturbed systems. Necessary and sufficient geometric conditions on the perturbation vector field are given in order to put the system into a perturbed one-chained form. Two different sliding mode control strategies are then designed to robustly stabilize, under some conditions, this chained system: one providing a practical stabilization, the other performing a finite time convergence. As a way of illustration, simulations on the example of the unicycle-type mobile robot are presented.), pp.1077-1083. ⟨10.1016/S0005-1098(03)00076-1⟩. ⟨hal-00762285⟩

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