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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2018 110th AEIT International Annual Conference, AEIT 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9788887237405
DOIs
Publication statusPublished - 2018 Dec 14
Event110th AEIT International Annual Conference, AEIT 2018 - Bari, Italy
Duration: 2018 Oct 32018 Oct 5

Publication series

Name2018 110th AEIT International Annual Conference, AEIT 2018

Conference

Conference110th AEIT International Annual Conference, AEIT 2018
CountryItaly
CityBari
Period18-10-0318-10-05

All Science Journal Classification (ASJC) codes

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

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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