Multi-input second-order sliding mode control of nonholonomic systems

Authors:	Ferrara Antonella, University of Pavia, Italy Giacomini Luisa, University of Pavia, Italy
Topic:	2.3 Non-Linear Control Systems
Session:	Advances in High Order Sliding Mode Control
Keywords:	Nonlinear systems, sliding-mode control, variable-structuresystems.

Abstract

The multi-input second order sliding mode control of nonholonomicsystems is addressed in this paper. The crucial point is thenecessity of describing the system in new coordinates, so as to becapable of selecting a suitable sliding manifold upon which toenforce a second order sliding mode. The procedure adopted in this paperis backstepping-based. The advantage of our proposal relies on its applicability also inpresence of a significant class of uncertainties, as well as onthe possibility of constructing a continuous, i.e.,chattering-free, control.