Cart (Loading....) | Create Account
Close category search window
 

Adaptive second order sliding mode control of uncertain nonholonomic systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Ferrara, A. ; Dept. of Comput. Eng. & Syst. Sci., Pavia Univ., Pavia ; Giacomini, L. ; Vecchio, C.

The problem of controlling a class of nonholonomic systems in chained form affected by uncertain nonlinear drift term and parametric uncertainties is addressed in this paper. The control of nonholonomic systems is a quite complex problem since this class of systems is not stabilizable with a stationary continuous state feedback. The idea investigated in this paper is to apply the so-called second order sliding mode control methodology to solve this problem. To this end, the system model needs to be reformulated so as to make the uncertain terms appear in matched form. A suitable transformation of the system model, based on a discontinuous state scaling and a backstepping based procedure, is proposed in the paper. On the basis of the transformed system state, it is possible to design an appropriate parameter adaptation mechanism and a particular sliding manifold upon which a second order sliding mode is enforced.

Published in:

Variable Structure Systems, 2008. VSS '08. International Workshop on

Date of Conference:

8-10 June 2008

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.