Predictive variable structure control of nonholonomic chained systems

Abstract

A novel variable structure control strategy for a class of second-order nonlinear systems is presented based on the phase-plane analysis and computing prediction. In this strategy control is switched by online prediction of the trajectory behaviour of the closed-loop system; control switching does not occur continuously, so the chattering that occurs in conventional variable structure control methods can be avoided completely. It is proved that the states of the closed-loop system can be stabilized to the origin exponentially and the trajectory of the closed-loop system does not overshoot in general. As an application, the proposed predictive variable structure control strategy is used to stabilize nonholonomic systems in chained form. An example of a wheeled mobile robot is studied and associated simulation results demonstrate the effectiveness of the proposed control strategy.