relation: http://eprints.imtlucca.it/1210/
title: Second-order sliding-mode control of a mobile robot based on a harmonic potential field
creator: Ferrara, Antonella
creator: Rubagotti, Matteo
subject: QA75 Electronic computers. Computer science
subject: TL Motor vehicles. Aeronautics. Astronautics
description: 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.
publisher: Institution of engineering and technology
date: 2008-09
type: Article
type: PeerReviewed
identifier:   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)  
relation: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4607296&isnumber=4607289
relation: 10.1049/iet-cta:20070424