Title :
Chatter reduction using backstepping and second order sliding
Author :
Tchenderli-Braham, S.A. ; Hamerlain, F. ; Saadia, Nadia ; Hamerlain, Mustapha
Author_Institution :
Center for Dev. of Adv. Technol., Productique & Robot. Lab., Algiers, Algeria
Abstract :
In this paper, we deal with a chatter effect problem which is generated by sliding mode control in the case of a trajectory tracking task applied on a nonholonomic car in a double steering mode also called Bi-Steerable Car (Bis-Car). In order to attenuate the chatter, a control is designed using a backstepping and a second order sliding mode control. The applicability of the control law is shown in experimentation result.
Keywords :
automobiles; control nonlinearities; control system synthesis; mobile robots; steering systems; trajectory control; variable structure systems; Bis-Car; backstepping; bi-steerable car; chatter effect problem; chatter reduction; control design; control law applicability; double steering mode; nonholonomic car; second order sliding mode control; trajectory tracking task; Robustness; Sensors;
Conference_Titel :
Systems and Control (ICSC), 2013 3rd International Conference on
Conference_Location :
Algiers
Print_ISBN :
978-1-4799-0273-6
DOI :
10.1109/ICoSC.2013.6750990
