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Sliding mode control for a class of nonlinear systems with application to a wheeled mobile robot

Mu, Jianqiu and Yan, Xing-Gang and Jiang, Bin and Spurgeon, Sarah K. and Mao, Zehui (2016) Sliding mode control for a class of nonlinear systems with application to a wheeled mobile robot. In: 2015 54th IEEE Conference on Decision and Control (CDC). IEEE, pp. 4746-4751. ISBN 978-1-4799-7884-7. E-ISBN 978-1-4799-7886-1. (doi:10.1109/CDC.2015.7402959) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided) (KAR id:60684)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided.
Official URL:
https://dx.doi.org/10.1109/CDC.2015.7402959

Abstract

In this paper, a generalised regular form for sliding mode control is proposed for a class of nonlinear systems. A novel approach to design nonlinear sliding surfaces based on this generalised regular form is presented using global implicit function theory such that the resulting sliding motion is globally asymptotically stable. Sliding mode controllers are designed to drive the system to the sliding surface and maintain a sliding motion thereafter. Both matched and mismatched uncertainties are considered. Then, the developed results are applied to the tracking control of a two wheeled mobile robot. The model-based tracking problem under study is initially transferred to a stabilization problem. Simulation results demonstrate that the tracking error system is globally asymptotically stable even in the presence of both matched and mismatched uncertainties.

Item Type: Book section
DOI/Identification number: 10.1109/CDC.2015.7402959
Uncontrolled keywords: uncertainty; nonlinear systems; sliding mode control; mobile robots; Jacobian matrices; tracking; simulation
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User: Sarah Spurgeon OBE
Date Deposited: 03 Mar 2017 12:37 UTC
Last Modified: 17 Aug 2022 12:21 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/60684 (The current URI for this page, for reference purposes)
Yan, Xing-Gang: https://orcid.org/0000-0003-2217-8398
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