Second-order sliding-mode control of a mobile robot based on a harmonic potential field

A. Ferrara, M. Rubagotti

Research output: Contribution to journalArticle

40 Citations (Scopus)

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.

Original languageEnglish
Pages (from-to)807-818
Number of pages12
JournalIET Control Theory and Applications
Volume2
Issue number9
DOIs
Publication statusPublished - Sep 1 2008
Externally publishedYes

Fingerprint

Harmonic Potential
Potential Field
Sliding mode control
Sliding Mode Control
Mobile Robot
Mobile robots
Chattering
Uncertain systems
Autonomous Vehicles
Nonholonomic
Second-order Systems
Uncertain Systems
Sliding Mode
Actuator
Proof by induction
Actuators
Collision
Vibration
Wear of materials
Gradient

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Electrical and Electronic Engineering

Cite this

Second-order sliding-mode control of a mobile robot based on a harmonic potential field. / Ferrara, A.; Rubagotti, M.

In: IET Control Theory and Applications, Vol. 2, No. 9, 01.09.2008, p. 807-818.

Research output: Contribution to journalArticle

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