Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems.
This paper gives a new necessary and sufficient condition on the perturbation vectorfield in order to put a nonholonomic perturbed system into a perturbed one-chained form. Two different sliding mode control strategies are designed to robustly stabilize this chained system: -- one providing a practical stabilization -- the other performing a finite time convergence. A numerical simulation of an example of a monocycle-type mobile robot is provided.
scientific article; zbMATH DE number 1924713