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

Authors:
Thierry Floquet;Jean-Pierre Barbot;Wilfrid Perruquetti
Affiliations:
LAIL UPRESA CNRS 8021, Ecole Centrale de Lille, BP 48, Cité Scientifique, 59651 Villeneuve-d'Ascq Cedex, France and Equipe Commande des Systèmes (ECS), ENSEA, 6 Avenue du Ponceau, 95014 ...;Equipe Commande des Systèmes (ECS), ENSEA, 6 Avenue du Ponceau, 95014 Cergy Cedex, France;LAIL UPRESA CNRS 8021, Ecole Centrale de Lille, BP 48, Cité Scientifique, 59651 Villeneuve-d'Ascq Cedex, France
Venue:
Automatica (Journal of IFAC)
Year:
2003

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Abstract

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.