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Published in:
2008 | OriginalPaper | Chapter
Stabilization of Nonholonomic Uncertain Systems Via Adaptive Second Order Sliding Mode Control
Authors : Antonella Ferrara, Luisa Giacomini, Claudio Vecchio
Published in: Modern Sliding Mode Control Theory
Publisher: Springer Berlin Heidelberg
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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.