A multi-input VS/backstepping design for nonholonomic systems

The multi-input second order sliding mode control of nonholonomic systems is addressed. The crucial point is the necessity of describing the system in new coordinates, in order to be able to select a suitable sliding manifold upon which to enforce a second order sliding regime. The procedure to transform a multi-input nonholonomic system into a form suitable for designing the second order sliding mode control vector adopted in this paper relies on a backstepping approach. The advantage of our proposal relies on its applicability, also in presence of, a significant class of uncertainties, as well as on the possibility of constructing a continuous or chattering-free control