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Authors: F. Hamerlain 1 ; K. Achour 1 ; T. Floquet 2 and W. Perruquetti 2

Affiliations: 1 Laboratoire de Robotique et d’intelligence Artificielle, CDTA, Algeria ; 2 LAGIS, UMR CNRS 8146, Ecole Centrale de Lille, France

Keyword(s): Nonholonomic systems, Higher order sliding modes, Finite time stabilization, Car-like mobile robot.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Vehicle Control Applications

Abstract: This paper deals with the robust stabilization of a car-like mobile robot given in a perturbed chained form. A higher order sliding mode control strategy is developed. This control strategy switches between two different sliding mode controls: a second order one (super-twisting algorithm) and a new third order sliding mode control that performs a finite time stabilization. The proposed third sliding mode controller is based on geometric homogeneity property with a discontinuous term. Simulation results show the control performance.

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Paper citation in several formats:
Hamerlain, F.; Achour, K.; Floquet, T. and Perruquetti, W. (2007). HIGHER ORDER SLIDING MODE STABILIZATION OF A CAR-LIKE MOBILE ROBOT. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 195-200. DOI: 10.5220/0001639901950200

@conference{icinco07,
author={F. Hamerlain. and K. Achour. and T. Floquet. and W. Perruquetti.},
title={HIGHER ORDER SLIDING MODE STABILIZATION OF A CAR-LIKE MOBILE ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO},
year={2007},
pages={195-200},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001639901950200},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO
TI - HIGHER ORDER SLIDING MODE STABILIZATION OF A CAR-LIKE MOBILE ROBOT
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Hamerlain, F.
AU - Achour, K.
AU - Floquet, T.
AU - Perruquetti, W.
PY - 2007
SP - 195
EP - 200
DO - 10.5220/0001639901950200
PB - SciTePress

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