eprintid: 1569141 rev_number: 27 eprint_status: archive userid: 608 dir: disk0/01/56/91/41 datestamp: 2017-08-08 11:44:30 lastmod: 2022-01-02 23:46:10 status_changed: 2018-10-16 10:19:56 type: article metadata_visibility: show creators_name: Mu, J creators_name: Yan, X-G creators_name: Spurgeon, SK creators_name: Mao, Z title: Generalized Regular Form Based SMC for Nonlinear Systems With Application to a WMR ispublished: pub divisions: UCL divisions: B04 divisions: C05 divisions: F46 keywords: Science & Technology, Technology, Automation & Control Systems, Engineering, Electrical & Electronic, Instruments & Instrumentation, Engineering, Generalized regular form, mobile robots, nonlinear systems, nonlinear sliding surfaces, sliding mode control (SMC), tracking control, SLIDING-MODE CONTROL, VARIABLE-STRUCTURE CONTROL, WHEELED MOBILE ROBOTS, TRAJECTORY TRACKING, DISTURBANCE ESTIMATION, DYNAMIC CONTROLLER, STOCHASTIC-SYSTEMS, OBSERVER, DESIGN, TIME note: This work is licensed under a Creative Commons Attribution 4.0 International License. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in the credit line; if the material is not included under the Creative Commons license, users will need to obtain permission from the license holder to reproduce the material. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/ abstract: In this paper, a generalized regular form is proposed to facilitate sliding mode control (SMC) design for a class of nonlinear systems. A novel nonlinear sliding surface is designed using implicit function theory such that the resulting sliding motion is globally asymptotically stable. Sliding mode controllers are proposed to drive the system to the sliding surface and maintain a sliding motion thereafter. Tracking control of a two-wheeled mobile robot is considered to underpin the developed theoretical results. Model-based tracking control of a wheeled mobile robot is first transferred to a stabilization problem for the corresponding tracking error system, and then the developed theoretical results are applied to show that the tracking error system is globally asymptotically stable even in the presence of matched and mismatched uncertainties. Both experimental and simulation results demonstrate that the developed results are practicable and effective. date: 2017-06-02 date_type: published publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC official_url: http://doi.org/10.1109/TIE.2017.2711500 oa_status: green full_text_type: pub language: eng primo: open primo_central: open_green article_type_text: Article verified: verified_manual elements_id: 1408992 doi: 10.1109/TIE.2017.2711500 lyricists_name: Spurgeon, Sarah lyricists_id: SSPUR40 actors_name: Spurgeon, Sarah actors_id: SSPUR40 actors_role: owner full_text_status: public publication: IEEE Transactions on Industrial Electronics volume: 64 number: 8 pagerange: 6714-6723 pages: 10 issn: 1557-9948 citation: Mu, J; Yan, X-G; Spurgeon, SK; Mao, Z; (2017) Generalized Regular Form Based SMC for Nonlinear Systems With Application to a WMR. IEEE Transactions on Industrial Electronics , 64 (8) pp. 6714-6723. 10.1109/TIE.2017.2711500 <https://doi.org/10.1109/TIE.2017.2711500>. Green open access document_url: https://discovery.ucl.ac.uk/id/eprint/1569141/7/Spurgeon%2007938436.pdf