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

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題2018 110th AEIT International Annual Conference, AEIT 2018
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9788887237405
DOIs
出版狀態Published - 2018 十二月 14
事件110th AEIT International Annual Conference, AEIT 2018 - Bari, Italy
持續時間: 2018 十月 32018 十月 5

出版系列

名字2018 110th AEIT International Annual Conference, AEIT 2018

Conference

Conference110th AEIT International Annual Conference, AEIT 2018
國家/地區Italy
城市Bari
期間18-10-0318-10-05

All Science Journal Classification (ASJC) codes

  • 控制和優化
  • 電腦網路與通信
  • 能源工程與電力技術

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