TY - GEN
T1 - Stabilization of nonholonomic system in chained form via super twisting sliding mode control
AU - Abbasi, Waseem
AU - Shah, Ibrahim
AU - Ur Rehman, Fazal
AU - Ud Din, Sami
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85050472589
UR - https://www.scopus.com/pages/publications/85050472589#tab=citedBy
U2 - 10.1109/ICET.2017.8281655
DO - 10.1109/ICET.2017.8281655
M3 - Conference contribution
AN - SCOPUS:85050472589
T3 - Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017
SP - 1
EP - 5
BT - Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th International Conference on Emerging Technologies, ICET2017
Y2 - 27 December 2017 through 28 December 2017
ER -