Smooth Super Twisting Sliding Mode Control Based Stabilization for Nonholonomic Mechanical Systems: A Firetruck Example

In this work, a smooth super twisting sliding mode control methodology is proposed to stabilize chained form nonholonomic system. As conventional sliding mode control causes an oscillating behavior known as chartering. This phenomena sometimes strongly deteriorate the system performance and led the systems to instability. To circumvent this problem a second order sliding mode control methodology based on smooth super twisting sliding mode control is presented. The proposed control algorithm is then applied to the chained form nonholonomic firetruck model, which shows asymptotic convergence. From the obtained results, the effectiveness of proposed algorithm has been evident.