Generalized Regular Form Based SMC for Nonlinear Systems With Application to a WMR
- Submitting institution
-
The University of Kent
- Unit of assessment
- 12 - Engineering
- Output identifier
- 6455
- Type
- D - Journal article
- DOI
-
10.1109/TIE.2017.2711500
- Title of journal
- IEEE Transactions on Industrial Electronics
- Article number
- -
- First page
- 6714
- Volume
- 64
- Issue
- 8
- ISSN
- 0278-0046
- Open access status
- Compliant
- Month of publication
- June
- Year of publication
- 2017
- URL
-
https://kar.kent.ac.uk/62020/
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
3
- Research group(s)
-
-
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- In this paper, a generalized regular form with rigorous definition is proposed for the first time to facilitate sliding mode control (SMC) design for nonlinear systems. A novel nonlinear sliding surface is designed using implicit function theory such that the resulting sliding motion is globally asymptotically stable. The proposed regular form includes the traditional regular form as a special case and the developed results are applied successfully to a two-wheeled mobile robot tracking control. Both experimental and simulation results very well underpin the developed theoretical results. This work forms the main contribution of Mr Jianqiu Mu’s PhD Thesis.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -