Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems
Joint Authors
Abbasi, Waseem
Rehman, Fazal ur
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-11-17
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
This article presents adaptive integral sliding mode control algorithm for the stabilization of nonholonomic drift-free systems.
First the system is transformed, by using input transform, into a special structure containing a nominal part and some unknown terms which are computed adaptively.
The transformed system is then stabilized using adaptive integral sliding mode control.
The stabilizing controller for the transformed system is constructed that consists of the nominal control plus a compensator control.
The compensator control and the adaptive laws are derived on the basis of Lyapunov stability theory.
The proposed control algorithm is applied to three different nonholonomic drift-free systems: the unicycle model, the front wheel car model, and the mobile robot with trailer model.
The controllability Lie algebra of the unicycle model contains Lie brackets of depth one, the model of a front wheel car contains Lie brackets of depths one and two, and the model of a mobile robot with trailer contains Lie brackets of depths one, two, and three.
The effectiveness of the proposed control algorithm is verified through numerical simulations.
American Psychological Association (APA)
Abbasi, Waseem& Rehman, Fazal ur. 2016. Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1112896
Modern Language Association (MLA)
Abbasi, Waseem& Rehman, Fazal ur. Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems. Mathematical Problems in Engineering No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1112896
American Medical Association (AMA)
Abbasi, Waseem& Rehman, Fazal ur. Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1112896
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112896