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One-chained form and sliding mode stabilization for a nonholonomic perturbed system

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3 Author(s)
T. Floquet ; CNRS, Villeneuve-d'Ascq, France ; J. -P. Barbot ; W. Perruquetti

This paper deals with nonholonomic perturbed systems. A necessary and sufficient condition on the perturbation vector field is given in order to put the system into a perturbed one-chained form. Then a sliding mode control strategy (with time-varying manifolds) to stabilize the system despite the perturbation is presented. Finally, simulations on the cart-like mobile robot are given

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American Control Conference, 2000. Proceedings of the 2000  (Volume:5 )

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