One-chained form and sliding mode stabilization for a nonholonomic perturbed system

Abstract

This paper deals with nonholonomic perturbed systems. A necessary and sufficient condition on the perturbation vector field is given in order to put the system into a perturbed one-chained form. Then a sliding mode control strategy (with time-varying manifolds) to stabilize the system despite the perturbation is presented. Finally, simulations on the cart-like mobile robot are given.