Chatter reduction using backstepping and second order sliding

In this paper, we deal with a chatter effect problem which is generated by sliding mode control in the case of a trajectory tracking task applied on a nonholonomic car in a double steering mode also called Bi-Steerable Car (Bis-Car). In order to attenuate the chatter, a control is designed using a backstepping and a second order sliding mode control. The applicability of the control law is shown in experimentation result.