Adaptive Sliding Mode Control of Uncertain High-Order Nonholonomic Systems with Unknown Control Coefficients
Author
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-07-11
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper investigates the global stabilization problem for a class of high-order nonholonomic systems with unknown control coefficients and uncertain nonlinearities.
An adaptive sliding mode control (SMC) law based on a constructive manipulation is proposed by adding a power integrator technique.
A switching control strategy is employed in the control scheme to overcome the uncontrollability problem associated with the nonholonomic systems.
The designed sliding mode controller could guarantee the attractiveness of the sliding surface S=0 and achieve the asymptotical convergence of the state as well as the boundedness of the estimated parameters.
A simulation example is provided to demonstrate the effectiveness of the proposed scheme.
American Psychological Association (APA)
Zhao, Yan. 2013. Adaptive Sliding Mode Control of Uncertain High-Order Nonholonomic Systems with Unknown Control Coefficients. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-10.
https://search.emarefa.net/detail/BIM-1009363
Modern Language Association (MLA)
Zhao, Yan. Adaptive Sliding Mode Control of Uncertain High-Order Nonholonomic Systems with Unknown Control Coefficients. Mathematical Problems in Engineering No. 2013 (2013), pp.1-10.
https://search.emarefa.net/detail/BIM-1009363
American Medical Association (AMA)
Zhao, Yan. Adaptive Sliding Mode Control of Uncertain High-Order Nonholonomic Systems with Unknown Control Coefficients. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-10.
https://search.emarefa.net/detail/BIM-1009363
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1009363