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Second-order sliding-mode control of a mobile robot based on a harmonic potential field

Ferrara, Antonella and Rubagotti, Matteo Second-order sliding-mode control of a mobile robot based on a harmonic potential field. IET Control Theory and Applications , 2 (9). 807 -818. ISSN 1751-8644 (2008)

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The problem of controlling an autonomous wheeled vehicle which must move in its operative space and reach a prescribed goal point avoiding the collision with the obstacles is dealt with. To comply with the non- holonomic nature of the system, a gradient-tracking approach is followed, so that a reference velocity and orientation are suitably generated during the vehicle motion. To track such references, two control laws are designed by suitably transforming the system model into a couple of auxiliary second-order uncertain systems, relying on which second-order sliding modes can be enforced. As a result, the control objective is attained by means of a continuous control law, so that the problems due to the so-called chattering effect, such as the possible actuators wear or the induction of vibrations, typically associated with the use of sliding-mode control, are circumvented.

Item Type: Article
Identification Number: 10.1049/iet-cta:20070424
Uncontrolled Keywords: autonomous wheeled vehicle; chattering effect; gradient-tracking approach; harmonic potential field; mobile robot; sliding-mode control; uncertain system; collision avoidance; gradient methods; mobile robots; uncertain systems; variable structure systems
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Research Area: Computer Science and Applications
Depositing User: Users 37 not found.
Date Deposited: 02 Mar 2012 15:49
Last Modified: 30 Sep 2013 12:32
URI: http://eprints.imtlucca.it/id/eprint/1210

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