eprintid: 1210
rev_number: 8
eprint_status: archive
userid: 37
dir: disk0/00/00/12/10
datestamp: 2012-03-02 15:49:32
lastmod: 2013-09-30 12:32:05
status_changed: 2012-03-02 15:49:32
type: article
metadata_visibility: show
creators_name: Ferrara, Antonella
creators_name: Rubagotti, Matteo
title: Second-order sliding-mode control of a mobile robot based on a harmonic potential field
ispublished: pub
subjects: QA75
subjects: TL
divisions: CSA
full_text_status: none
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
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.
date: 2008-09
date_type: published
publication: IET Control Theory and Applications 
volume: 2
number: 9
publisher: Institution of engineering and technology
pagerange: 807 -818
id_number: 10.1049/iet-cta:20070424
refereed: TRUE
issn: 1751-8644
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4607296&isnumber=4607289
citation:   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)