Variable structure control of nonlinear sampled data systems by second order sliding modes

2007 ◽  
pp. 43-67 ◽  
Author(s):  
Giorgio Bartolini ◽  
Alessandro Pisano ◽  
Elio Usai
Keyword(s):  
Variable Structure Control ◽  
Variable Structure ◽  
Second Order ◽  
Data Systems ◽  
Sliding Modes ◽  
Sampled Data ◽  
Structure Control

Variable Structure Control of Sampled-Data Systems

1997 ◽  
Vol 30 (6) ◽  
pp. 805-810
Author(s):  
Katsuhisa Furuta ◽  
Yaodong Pan
Keyword(s):  
Variable Structure Control ◽  
Variable Structure ◽  
Data Systems ◽  
Sampled Data ◽  
Structure Control

Tracking Design of an Omni-Direction Autonomous Ground Vehicle by Hierarchical Enhancement Using Fuzzy Second-Order Variable Structure Control

2018 ◽  
Vol 140 (9) ◽  
Author(s):  
Chih-Lyang Hwang ◽  
Yunta Lee
Keyword(s):  
Tracking Error ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Second Order ◽  
Hierarchical Architecture ◽  
Switching Surface ◽  
Ground Vehicle ◽  
Structure Control ◽  
Linear Dynamic ◽  
Order Variable

Owing to the hierarchical architecture of the derived model of the omni-direction autonomous ground vehicle (OD-AGV), the virtual desired trajectory (VDT) is first designed by the first switching surface, which is set as the linear dynamic pose error of the OD-AGV. In sequence, the trajectory tracking control (TTC) is designed by the second switching surface, which is the linear dynamic tracking error of the VDT. To deal with nonlinear time-varying uncertainties including system disturbance and different ground conditions, enhanced fuzzy second-order variable structure control (EF2VSC) is designed into both VDT and TTC. Finally, the experiments for tracking the circular trajectories with different curvatures, traveling velocities, and poses of the OD-AGV are presented to validate the effectiveness and robustness of the proposed hierarchical enhancement using fuzzy second-order variable structure control (HEF2VSC).

Sign in / Sign up

Export Citation Format

Share Document