Automated, sliding mode, 4WS control based on centers of percussion of front and rear wheels

Author

Kumamoto, Hiromitsu ; Nishihara, Osamu ; Tenmoku, Kenji ; Shimoura, Hiroshi ; Katou, Kazuhiro ; Higashimura, H.

Author_Institution

Dept. of Syst. Sci., Kyoto Univ., Japan

Volume

3

fYear

1999

fDate

36342

Firstpage

2293

Abstract

A simple, stable, and robust path following controller is derived for 4WS vehicles. Front and rear viewpoints are defined as centers of percussion of rear and front wheels, respectively. The controller uses the two viewpoints as datum points to determine course errors. Front and rear course errors follow second order differential equations, where the yaw rate and vehicle body slip angle are inputs to the equations. The controller can cope with unknown cornering power parameters. Steady state values are derived from the lock-on capability. Simulation results on a packed-snow road are given for the controller assuming dry asphalt parameters

Keywords

controllers; differential equations; motion control; position control; road vehicles; robust control; variable structure systems; automated control; centers of percussion; cornering power parameters; dry asphalt parameters; front course errors; front wheels; lock-on capability; packed-snow road; rear course errors; rear wheels; robust path following controller; second order differential equations; simulation results; sliding mode control; steady state values; vehicle body slip angle; yaw rate; Asphalt; Automatic control; Differential equations; Error correction; Roads; Robust control; Sliding mode control; Steady-state; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Vehicular Technology Conference, 1999 IEEE 49th

Conference_Location

Houston, TX

ISSN

1090-3038

Print_ISBN

0-7803-5565-2

Type

conf

DOI

10.1109/VETEC.1999.778475

Filename

778475