Title :
One-chained form and sliding mode stabilization for a nonholonomic perturbed system
Author :
Floquet, T. ; Barbot, J.-P. ; Perruquetti, W.
Author_Institution :
CNRS, Villeneuve-d´´Ascq, France
Abstract :
This paper deals with nonholonomic perturbed systems. A necessary and sufficient condition on the perturbation vector field is given in order to put the system into a perturbed one-chained form. Then a sliding mode control strategy (with time-varying manifolds) to stabilize the system despite the perturbation is presented. Finally, simulations on the cart-like mobile robot are given
Keywords :
mobile robots; nonlinear systems; perturbation techniques; robust control; time-varying systems; variable structure systems; mobile robot; nonholonomic perturbed system; one-chained form; perturbation vector field; sliding mode control; stabilization; time-varying manifolds; Control systems; Mechanical systems; Orbital robotics; Robots; Sliding mode control; State feedback; Sufficient conditions; Time varying systems; Vectors; Vehicles;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.879168
