Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems.
type: Item
instance of: scholarly article
title: Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems.
zbMATH Open document ID: 1038.93063
DOI: 10.1016/S0005-1098(03)00076-1
author: Thierry Floquet
author: J. P. Barbot
author: Wilfrid Perruquetti
published in: Automatica
publication date: 2003-06-09T00:00:00Z
review text: 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.
reviewed by: Marc Quincampoix
Mathematics Subject Classification ID: 93C73
Mathematics Subject Classification ID: 93D15
Mathematics Subject Classification ID: 93B12
Mathematics Subject Classification ID: 93D21
Mathematics Subject Classification ID: 70F25
zbMATH DE Number: 1924713
zbMATH Keywords: perturbation
zbMATH Keywords: one-chained form
zbMATH Keywords: practical stabilization
zbMATH Keywords: mobile robot
zbMATH Keywords: higher-order sliding modes
zbMATH Keywords: nonholonomic systems
zbMATH Keywords: robust stabilization
zbMATH Keywords: finite time convergence
MaRDI profile type: Publication
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full work available at URL: s0005-1098(03)00076-1
OpenAlex ID: W2000233086
description: scientific article; zbMATH DE number 1924713