<> "The repository administrator has not yet configured an RDF license."^^ . <> . . . "Second-order sliding-mode control of a mobile robot based on a harmonic potential field"^^ . "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."^^ . "2008-09" . "2" . "9" . . "Institution of engineering and technology"^^ . . . "IET Control Theory and Applications "^^ . . . "17518644" . . . . . . . . . . "Matteo"^^ . "Rubagotti"^^ . "Matteo Rubagotti"^^ . . "Antonella"^^ . "Ferrara"^^ . "Antonella Ferrara"^^ . . . . . "HTML Summary of #1210 \n\nSecond-order sliding-mode control of a mobile robot based on a harmonic potential field\n\n" . "text/html" . . . "QA75 Electronic computers. Computer science"@en . . . "TL Motor vehicles. Aeronautics. Astronautics"@en . .