Stabilization of nonholonomic uncertain systems via adaptive second order sliding mode control

Abstract

Nonholonomic systems have been the object of research for control theorists for many years [24]. The key difficulty in controlling this class of systems, like wheeled mobile robots and wheeled vehicles [24], is tied to the fact that nonholonomic systems do not satisfy Brockett's necessary smooth feedback stabilization condition [8] as shown in [29]. The control problem is further complicated whenever uncertainties of various nature affect the nonholonomic system model. © 2008 Springer-Verlag Berlin Heidelberg.