TY - GEN
T1 - Gradient tracking based second order sliding mode control of a wheeled vehicle
AU - Ferrara, Antonella
AU - Rubagotti, Matteo
PY - 2007/1/1
Y1 - 2007/1/1
N2 - The present paper deals with the problem of making a three-wheeled vehicle move in its operative space reaching prescribed goal points with the desired orientation, and avoiding the collision with obstacles. To comply with the nonholonomic nature of the system to be controlled, a gradient tracking approach is followed, so that a reference velocity and orientation are suitably generated during the vehicle motion. To track such references a multi-input control law is 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.
AB - The present paper deals with the problem of making a three-wheeled vehicle move in its operative space reaching prescribed goal points with the desired orientation, and avoiding the collision with obstacles. To comply with the nonholonomic nature of the system to be controlled, a gradient tracking approach is followed, so that a reference velocity and orientation are suitably generated during the vehicle motion. To track such references a multi-input control law is 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.
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U2 - 10.23919/ecc.2007.7068684
DO - 10.23919/ecc.2007.7068684
M3 - Conference contribution
AN - SCOPUS:84927725946
T3 - 2007 European Control Conference, ECC 2007
SP - 3810
EP - 3817
BT - 2007 European Control Conference, ECC 2007
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2007 9th European Control Conference, ECC 2007
Y2 - 2 July 2007 through 5 July 2007
ER -