HIGHER ORDER SLIDING MODE STABILIZATION OF A CAR-LIKE MOBILE ROBOT

F. Hamerlain, K. Achour, T. Floquet, W. Perruquetti

2007

Abstract

This paper deals with the robust stabilization of a car-like mobile robot given in a perturbed chained form. A higher order sliding mode control strategy is developed. This control strategy switches between two different sliding mode controls: a second order one (super-twisting algorithm) and a new third order sliding mode control that performs a finite time stabilization. The proposed third sliding mode controller is based on geometric homogeneity property with a discontinuous term. Simulation results show the control performance.

Paper Citation

in Harvard Style

Hamerlain F., Achour K., Floquet T. and Perruquetti W. (2007). HIGHER ORDER SLIDING MODE STABILIZATION OF A CAR-LIKE MOBILE ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 195-200. DOI: 10.5220/0001639901950200

in Bibtex Style

@conference{icinco07,
author={F. Hamerlain and K. Achour and T. Floquet and W. Perruquetti},
title={HIGHER ORDER SLIDING MODE STABILIZATION OF A CAR-LIKE MOBILE ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={195-200},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001639901950200},
isbn={978-972-8865-83-2},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - HIGHER ORDER SLIDING MODE STABILIZATION OF A CAR-LIKE MOBILE ROBOT
SN - 978-972-8865-83-2
AU - Hamerlain F.
AU - Achour K.
AU - Floquet T.
AU - Perruquetti W.
PY - 2007
SP - 195
EP - 200
DO - 10.5220/0001639901950200