DocumentCode
2080456
Title
Sliding mode controller for automatic path tracking of vehicles
Author
Zhang, J.R. ; Xu, K.J. ; Rachid, A.
Author_Institution
Univ. Picardie, Amiens, France
Volume
5
fYear
2002
fDate
2002
Firstpage
3974
Abstract
This paper studies the automatic path tracking control of vehicles. The nonlinear vehicle model with the coupled inputs is considered. A nonlinear transformation is used to deal with the system, while a sliding mode controller is proposed such that the tracking error converges to the prescript equilibrium position. An example with a small steering angle has been given.. The simulation results show that the controller is valid.
Keywords
nonlinear control systems; tracking; variable structure systems; automatic path tracking of vehicles; coupled inputs; nonlinear transformation; nonlinear vehicle model; prescript equilibrium position; simulation results; sliding mode controller; Automatic control; Control systems; Couplings; Error correction; Nonlinear control systems; Road vehicles; Robust control; Sliding mode control; Vehicle dynamics; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2002. Proceedings of the 2002
ISSN
0743-1619
Print_ISBN
0-7803-7298-0
Type
conf
DOI
10.1109/ACC.2002.1024550
Filename
1024550
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