Smooth super twisting sliding mode based steering control for nonholonomic systems transformable into chained form

Waseem Abbasi, Fazl ur Rehman, Ibrahim Shah

研究成果: Article同行評審

1 引文 斯高帕斯(Scopus)

摘要

In this article, a new solution to the steering control problem of nonholonomic systems, which are transformable into chained form is investigated. A smooth super twisting sliding mode control technique is used to steer nonholonomic systems. Firstly, the nonholonomic system is transformed into a chained form system, which is further decomposed into two subsystems. Secondly, the second subsystem is steered to the origin by using smooth super twisting sliding mode control. Finally, the first subsystem is steered to zero using signum function. The proposed method is tested on three nonholonomic systems, which are transformable into chained form; a two-wheel car model, a model of front-wheel car, and a fire truck model. Numerical computer simulations show the effectiveness of the proposed method when applied to chained form nonholonomic systems.

原文English
頁(從 - 到)476-495
頁數20
期刊Kybernetika
54
發行號3
DOIs
出版狀態Published - 2018

All Science Journal Classification (ASJC) codes

  • 軟體
  • 控制與系統工程
  • 理論電腦科學
  • 資訊系統
  • 人工智慧
  • 電氣與電子工程

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