TY  - JOUR
VL  - 2
IS  - 9
JF  - IET Control Theory and Applications 
Y1  - 2008/09//
SP  - 807 
PB  - Institution of engineering and technology
A1  - Ferrara, Antonella
A1  - Rubagotti, Matteo
EP  - 818
ID  - eprints1210
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4607296&isnumber=4607289
KW  - 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
TI  - Second-order sliding-mode control of a mobile robot based on a harmonic potential field
AV  - none
N2  - 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.
SN  - 1751-8644
ER  -