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Modern Sliding Mode Control Theory pp 223–245Cite as

Stabilization of Nonholonomic Uncertain Systems Via Adaptive Second Order Sliding Mode Control

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 375))

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.

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Author information

Authors and Affiliations

  1. Department of Computer Engineering and Systems Science, University of Pavia, Via Ferrara 1, 27100, Pavia, Italy

    Antonella Ferrara & Claudio Vecchio

  2. Eutecne Srl, Via Galata, 39/8, 16121, Genova, Italy

    Luisa Giacomini

Authors
  1. Antonella Ferrara
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  2. Luisa Giacomini
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  3. Claudio Vecchio
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Editor information

Giorgio Bartolini Leonid Fridman Alessandro Pisano Elio Usai

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Ferrara, A., Giacomini, L., Vecchio, C. (2008). Stabilization of Nonholonomic Uncertain Systems Via Adaptive Second Order Sliding Mode Control. In: Bartolini, G., Fridman, L., Pisano, A., Usai, E. (eds) Modern Sliding Mode Control Theory. Lecture Notes in Control and Information Sciences, vol 375. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-79016-7_11

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  • DOI: https://doi.org/10.1007/978-3-540-79016-7_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-79015-0

  • Online ISBN: 978-3-540-79016-7

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