Stabilization of nonholonomic system in chained form via super twisting sliding mode control

In this article, a new solution to the stabilization problem of the nonholonomic systems in chained form is presented, which is based on super twisting sliding mode control. The nonholonomic system in chained form is decomposed into two subsystems. The first subsystem consists of the single state variable, while the second subsystem comprises of the remaining state variables. Firstly, the second subsystem is stabilized by using super twisting sliding mode control, while applying the first subsystem constant input. Secondly, after the stabilization of the second subsystem, the first subsystem is stabilized by using Signum function. The proposed algorithm is tested on a nonholonomic front wheel car model. Simulation results show the effectiveness of the proposed algorithm.