TY - GEN
T1 - Smooth Super Twisting Sliding Mode Control Based Stabilization for Nonholonomic Mechanical Systems
T2 - 110th AEIT International Annual Conference, AEIT 2018
AU - Abbasi, Waseem
AU - Shah, Ibrahim
AU - Rehman, Fazal Ur
AU - Siddque, Nazim
AU - Rafique, Umair
PY - 2018/12/14
Y1 - 2018/12/14
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=85060282774&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85060282774&partnerID=8YFLogxK
U2 - 10.23919/AEIT.2018.8577332
DO - 10.23919/AEIT.2018.8577332
M3 - Conference contribution
AN - SCOPUS:85060282774
T3 - 2018 110th AEIT International Annual Conference, AEIT 2018
BT - 2018 110th AEIT International Annual Conference, AEIT 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 3 October 2018 through 5 October 2018
ER -