Multi–input Second Order Sliding Mode Control of Nonholonomic Systems
نویسندگان
چکیده
The multi–input second order sliding mode control of nonholonomic systems is addressed in this paper. The crucial point is the necessity of describing the system in new coordinates, so as to be capable of selecting a suitable sliding manifold upon which to enforce a second order sliding mode. The procedure adopted in this paper is backstepping–based. The advantage of our proposal relies on its applicability also in presence of a significant class of uncertainties, as well as on the possibility of constructing a continuous, i.e., chattering–free, control. Copyright c ©2005 IFAC
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