@article{eprints1210,
         journal = {IET Control Theory and Applications },
       publisher = {Institution of engineering and technology},
          author = {Antonella Ferrara and Matteo Rubagotti},
           title = {Second-order sliding-mode control of a mobile robot based on a harmonic potential field},
            year = {2008},
          volume = {2},
           month = {September},
           pages = {807 --818},
          number = {9},
             url = {http://eprints.imtlucca.it/1210/},
        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.},
        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}
}