Title :
Skid detection of an autonomous vehicle under extreme driving conditions using a sliding mode observer
Author :
Alvarado, Juan A. ; Drakunov, Sergey V.
Author_Institution :
Dept. of Phys. Sci., Embry-Riddle Aeronaut. Univ., Daytona Beach, FL, USA
Abstract :
This paper studies the problem of accurately detecting skid forces in an autonomous vehicle in order to develop as a tool for controlled skid. Skid estimation and control represents a very challenging problem because of the vehicle´s dynamics when performing a skidding maneuver. The use of sliding mode control and observer approach provides a robust environment for analyzing and controlling such system. A sliding mode observer was developed for an autonomous vehicle in order to generate a reliable platform for simulations and subsequent testing with real-time data acquisition.
Keywords :
automobiles; control system analysis; observers; robust control; variable structure systems; vehicle dynamics; autonomous vehicle; extreme driving conditions; real-time data acquisition; robust environment; skid control; skid estimation; skid force detection; skidding maneuver; sliding mode observer approach; vehicle dynamics; Equations; Force; Mobile robots; Observers; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Control Conference (ECC), 2014 European
Conference_Location :
Strasbourg
Print_ISBN :
978-3-9524269-1-3
DOI :
10.1109/ECC.2014.6862276