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....
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| Format: | Article |
| Language: | English |
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Elsevier
2018-09-01
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| Series: | Alexandria Engineering Journal |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S1110016817301813 |