Robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode control

The problem of stabilization of a class of nonholonomic systems that can be transformed into chained form is considered. Since nonholonomic systems cannot be stabilized using smooth and time invariant control, a switching algorithm comprising three distinct steps is employed to stabilize the system....

Full description

Bibliographic Details
Main Author:	Yasir Awais Butt
Format:	Article
Language:	English
Published:	Elsevier 2018-09-01
Series:	Alexandria Engineering Journal
Online Access:	http://www.sciencedirect.com/science/article/pii/S1110016817301813

id	doaj-f4874212704f47a2af2533d567f74d7a
record_format	Article
spelling	doaj-f4874212704f47a2af2533d567f74d7a2021-06-02T02:47:22ZengElsevierAlexandria Engineering Journal1110-01682018-09-0157315911596Robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode controlYasir Awais Butt0Department of Electronic Engineering, Capital University of Science and Technology, Islamabad, PakistanThe problem of stabilization of a class of nonholonomic systems that can be transformed into chained form is considered. Since nonholonomic systems cannot be stabilized using smooth and time invariant control, a switching algorithm comprising three distinct steps is employed to stabilize the system. The proposed algorithm allows the system to be reduced into simpler subsystems and affords employing different controllers in each step. Using this approach, desired performance and robustness properties of the feedback control system can be guaranteed. The effectiveness of the proposed algorithm is established by applying it on a unicycle type system moving on hyperbolic plane. In order to make the controller robust, integral sliding mode control is introduced that guarantees robust stabilization. Simulation results confirm the mathematical developments. Keywords: Stabilization, Nonholonomic systems, Switching control, Integral sliding mode controlhttp://www.sciencedirect.com/science/article/pii/S1110016817301813
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Yasir Awais Butt
spellingShingle	Yasir Awais Butt Robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode control Alexandria Engineering Journal
author_facet	Yasir Awais Butt
author_sort	Yasir Awais Butt
title	Robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode control
title_short	Robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode control
title_full	Robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode control
title_fullStr	Robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode control
title_full_unstemmed	Robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode control
title_sort	robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode control
publisher	Elsevier
series	Alexandria Engineering Journal
issn	1110-0168
publishDate	2018-09-01
description	The problem of stabilization of a class of nonholonomic systems that can be transformed into chained form is considered. Since nonholonomic systems cannot be stabilized using smooth and time invariant control, a switching algorithm comprising three distinct steps is employed to stabilize the system. The proposed algorithm allows the system to be reduced into simpler subsystems and affords employing different controllers in each step. Using this approach, desired performance and robustness properties of the feedback control system can be guaranteed. The effectiveness of the proposed algorithm is established by applying it on a unicycle type system moving on hyperbolic plane. In order to make the controller robust, integral sliding mode control is introduced that guarantees robust stabilization. Simulation results confirm the mathematical developments. Keywords: Stabilization, Nonholonomic systems, Switching control, Integral sliding mode control
url	http://www.sciencedirect.com/science/article/pii/S1110016817301813
work_keys_str_mv	AT yasirawaisbutt robuststabilizationofaclassofnonholonomicsystemsusinglogicalswitchingandintegralslidingmodecontrol
_version_	1721409241914277888

Robust stabilization of a class of nonholonomic systems using logical switching and integral sliding mode control

Similar Items