Title :
Variable Structure Model Reference Adaptive Control, for Vehicle Automatic Steering System
Author :
Mohammadi, Ardeshir Karami ; Saee, Mohammadreza
Author_Institution :
Dept. of Mech. Eng., Shahrood Univ. of Technol., Shahrood, Iran
Abstract :
A variable structure model reference adaptive control (VS-MRAC) strategy for automatic active steering of a two wheel steering car is proposed. An ideal steering system with fixed properties and moving on an ideal road is used as the reference model, and the automatic active steering system is forced to attain the same behavior as the reference model. The proposed system can treat the nonlinear relationships between the side slip angles and lateral forces on tire, and the uncertainties on friction of the road surface, whose compensation are very important under critical situations. Simulation results show improvements on side slip, yaw rate and Dy angle.
Keywords :
adaptive control; automobiles; steering systems; variable structure systems; lateral forces; road surface friction; side slip angles; two wheel steering car; variable structure model reference adaptive control; vehicle automatic steering system; yaw rate; Adaptive control; Electronic mail; Mechanical engineering; Remotely operated vehicles; Roads; Sliding mode control; Steering systems; Tires; Vehicle dynamics; Wheels; Adaptive Control; Automatic active steering; Model reference; Variable Structure;
Conference_Titel :
Computer and Electrical Engineering, 2009. ICCEE '09. Second International Conference on
Conference_Location :
Dubai
Print_ISBN :
978-1-4244-5365-8
Electronic_ISBN :
978-0-7695-3925-6
DOI :
10.1109/ICCEE.2009.54
