Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems

被引：146

作者：

Floquet, T

Barbot, JP

Perruquetti, W

机构：

[1] ENSEA, ECS, F-95014 Cergy, France

[2] Ecole Cent Lille, CNRS 8021, UPRESA, LAIL, F-59651 Villeneuve Dascq, France

来源：

AUTOMATICA | 2003年 / 39卷 / 06期

关键词：

higher-order sliding modes; nonholonomic systems; robust stabilization; finite time convergence;

D O I：

10.1016/S0005-1098(03)00076-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

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. (C) 2003 Elsevier Science Ltd. All rights reserved.

引用

页码：1077 / 1083

页数：7

共 25 条

[1]

[Anonymous], 1983, DIFFERENTIAL GEOMETR

[2]

[Anonymous], 1992, SLIDING MODES CONTRO

[3]

Exponential stabilization of a wheeled mobile robot via discontinuous control [J].