Sliding mode controller for automatic steering of vehicles

Author

Zhang, J.R. ; Xu, S.J. ; Rachid, A.

Author_Institution

Univ. de Picardie Jules Verne, Amiens, France

Volume

3

fYear

2001

fDate

2001

Firstpage

2149

Abstract

This paper studies a controller design for the path tracking of vehicles. The considered model has strong nonlinear and coupling properties, especially the coupled input variables. A sliding mode controller is proposed such that the coupling longitudinal and lateral velocities, lateral deviation, yaw angle and yaw rate converge to the prescript equilibrium position asymptotically. Simulation results show that the controller is effective

Keywords

asymptotic stability; control system analysis; control system synthesis; motion control; nonlinear control systems; position control; road traffic; tracking; traffic control; variable structure systems; asymptotic stability; automatic vehicle steering; control design; control simulation; coupled input variables; coupling properties; equilibrium position; lateral deviation; lateral velocities; longitudinal velocities; nonlinear property; path tracking; sliding mode controller; yaw angle; yaw rate; Automatic control; Couplings; Force control; Input variables; Motion control; Road transportation; Road vehicles; Sliding mode control; Vehicle dynamics; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE

Conference_Location

Denver, CO

Print_ISBN

0-7803-7108-9

Type

conf

DOI

10.1109/IECON.2001.975626

Filename

975626