Smooth Super Twisting Sliding Mode Control Based Stabilization for Nonholonomic Mechanical Systems: A Firetruck Example

Waseem Abbasi; Ibrahim Shah; Fazal Ur Rehman; Nazim Siddque; Umair Rafique

doi:10.23919/AEIT.2018.8577332

Smooth Super Twisting Sliding Mode Control Based Stabilization for Nonholonomic Mechanical Systems: A Firetruck Example

Waseem Abbasi, Ibrahim Shah, Fazal Ur Rehman, Nazim Siddque, Umair Rafique

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this work, a smooth super twisting sliding mode control methodology is proposed to stabilize chained form nonholonomic system. As conventional sliding mode control causes an oscillating behavior known as chartering. This phenomena sometimes strongly deteriorate the system performance and led the systems to instability. To circumvent this problem a second order sliding mode control methodology based on smooth super twisting sliding mode control is presented. The proposed control algorithm is then applied to the chained form nonholonomic firetruck model, which shows asymptotic convergence. From the obtained results, the effectiveness of proposed algorithm has been evident.

Original language	English
Title of host publication	2018 110th AEIT International Annual Conference, AEIT 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9788887237405
DOIs	https://doi.org/10.23919/AEIT.2018.8577332
Publication status	Published - 2018 Dec 14
Event	110th AEIT International Annual Conference, AEIT 2018 - Bari, Italy Duration: 2018 Oct 3 → 2018 Oct 5

Publication series

Name	2018 110th AEIT International Annual Conference, AEIT 2018

Conference

Conference	110th AEIT International Annual Conference, AEIT 2018
Country	Italy
City	Bari
Period	18-10-03 → 18-10-05

All Science Journal Classification (ASJC) codes

Control and Optimization
Computer Networks and Communications
Energy Engineering and Power Technology

Access to Document

10.23919/AEIT.2018.8577332

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Abbasi, W., Shah, I., Rehman, F. U., Siddque, N., & Rafique, U. (2018). Smooth Super Twisting Sliding Mode Control Based Stabilization for Nonholonomic Mechanical Systems: A Firetruck Example. In 2018 110th AEIT International Annual Conference, AEIT 2018 [8577332] (2018 110th AEIT International Annual Conference, AEIT 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/AEIT.2018.8577332

Abbasi, Waseem ; Shah, Ibrahim ; Rehman, Fazal Ur ; Siddque, Nazim ; Rafique, Umair. / Smooth Super Twisting Sliding Mode Control Based Stabilization for Nonholonomic Mechanical Systems : A Firetruck Example. 2018 110th AEIT International Annual Conference, AEIT 2018. Institute of Electrical and Electronics Engineers Inc., 2018. (2018 110th AEIT International Annual Conference, AEIT 2018).

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title = "Smooth Super Twisting Sliding Mode Control Based Stabilization for Nonholonomic Mechanical Systems: A Firetruck Example",

abstract = "In this work, a smooth super twisting sliding mode control methodology is proposed to stabilize chained form nonholonomic system. As conventional sliding mode control causes an oscillating behavior known as chartering. This phenomena sometimes strongly deteriorate the system performance and led the systems to instability. To circumvent this problem a second order sliding mode control methodology based on smooth super twisting sliding mode control is presented. The proposed control algorithm is then applied to the chained form nonholonomic firetruck model, which shows asymptotic convergence. From the obtained results, the effectiveness of proposed algorithm has been evident.",

author = "Waseem Abbasi and Ibrahim Shah and Rehman, {Fazal Ur} and Nazim Siddque and Umair Rafique",

year = "2018",

month = dec,

day = "14",

doi = "10.23919/AEIT.2018.8577332",

language = "English",

series = "2018 110th AEIT International Annual Conference, AEIT 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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note = "110th AEIT International Annual Conference, AEIT 2018 ; Conference date: 03-10-2018 Through 05-10-2018",

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Abbasi, W, Shah, I, Rehman, FU, Siddque, N & Rafique, U 2018, Smooth Super Twisting Sliding Mode Control Based Stabilization for Nonholonomic Mechanical Systems: A Firetruck Example. in 2018 110th AEIT International Annual Conference, AEIT 2018., 8577332, 2018 110th AEIT International Annual Conference, AEIT 2018, Institute of Electrical and Electronics Engineers Inc., 110th AEIT International Annual Conference, AEIT 2018, Bari, Italy, 18-10-03. https://doi.org/10.23919/AEIT.2018.8577332

Smooth Super Twisting Sliding Mode Control Based Stabilization for Nonholonomic Mechanical Systems : A Firetruck Example. / Abbasi, Waseem; Shah, Ibrahim; Rehman, Fazal Ur; Siddque, Nazim; Rafique, Umair.

2018 110th AEIT International Annual Conference, AEIT 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 8577332 (2018 110th AEIT International Annual Conference, AEIT 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - In this work, a smooth super twisting sliding mode control methodology is proposed to stabilize chained form nonholonomic system. As conventional sliding mode control causes an oscillating behavior known as chartering. This phenomena sometimes strongly deteriorate the system performance and led the systems to instability. To circumvent this problem a second order sliding mode control methodology based on smooth super twisting sliding mode control is presented. The proposed control algorithm is then applied to the chained form nonholonomic firetruck model, which shows asymptotic convergence. From the obtained results, the effectiveness of proposed algorithm has been evident.

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Abbasi W, Shah I, Rehman FU, Siddque N, Rafique U. Smooth Super Twisting Sliding Mode Control Based Stabilization for Nonholonomic Mechanical Systems: A Firetruck Example. In 2018 110th AEIT International Annual Conference, AEIT 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 8577332. (2018 110th AEIT International Annual Conference, AEIT 2018). https://doi.org/10.23919/AEIT.2018.8577332