Stabilization of nonholonomic system in chained form via super twisting sliding mode control

Waseem Abbasi, Ibrahim Shah, Fazal Ur Rehman, Sami Ud Din

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this article, a new solution to the stabilization problem of the nonholonomic systems in chained form is presented, which is based on super twisting sliding mode control. The nonholonomic system in chained form is decomposed into two subsystems. The first subsystem consists of the single state variable, while the second subsystem comprises of the remaining state variables. Firstly, the second subsystem is stabilized by using super twisting sliding mode control, while applying the first subsystem constant input. Secondly, after the stabilization of the second subsystem, the first subsystem is stabilized by using Signum function. The proposed algorithm is tested on a nonholonomic front wheel car model. Simulation results show the effectiveness of the proposed algorithm.

Original languageEnglish
Title of host publicationProceedings - 2017 13th International Conference on Emerging Technologies, ICET2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-5
Number of pages5
ISBN (Electronic)9781538622605
DOIs
Publication statusPublished - 2018 Feb 5
Event13th International Conference on Emerging Technologies, ICET2017 - Islamabad, Pakistan
Duration: 2017 Dec 272017 Dec 28

Publication series

NameProceedings - 2017 13th International Conference on Emerging Technologies, ICET2017
Volume2018-January

Conference

Conference13th International Conference on Emerging Technologies, ICET2017
CountryPakistan
CityIslamabad
Period17-12-2717-12-28

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Control and Optimization
  • Computer Vision and Pattern Recognition

Fingerprint Dive into the research topics of 'Stabilization of nonholonomic system in chained form via super twisting sliding mode control'. Together they form a unique fingerprint.

Cite this