A backstepping second order variable structure control design for a class of uncertain nonlinear systems

2002 ◽  
Author(s):  
G. Bartolini ◽  
A. Ferrara ◽  
L. Giacomini
Keyword(s):  
Nonlinear Systems ◽  
Control Design ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Second Order ◽  
Uncertain Nonlinear Systems ◽  
Structure Control ◽  
Order Variable

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).

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