A Lyapunov-based design of a modified super-twisting algorithm for the Heisenberg system

DOI10.1093/imamci/dns020zbMath1267.93126OpenAlexW2151876847MaRDI QIDQ2841810

Michael Defoort, Mohamed Djemai

Publication date: 30 July 2013

Published in: IMA Journal of Mathematical Control and Information (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1093/imamci/dns020

zbMATH Keywords

sliding mode controlLyapunov methodHeisenberg systemnon-holonomic mobile robotchattering alleviation

Mathematics Subject Classification ID

Perturbations in control/observation systems (93C73) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Control/observation systems governed by ordinary differential equations (93C15)

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