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)
Full text not available from this repository.Abstract
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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