Sliding mode lateral motion control for automatic steering of vehicles

Author

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

Author_Institution

Univ. de Picardie, Amiens, France

fYear

2001

fDate

4-7 Sept. 2001

Firstpage

3636

Lastpage

3641

Abstract

This paper deals with the controller design for the lateral motion of automatic steering of vehicles. The nonlinear models without and with uncertainties are considered. Sliding mode controllers with first order sliding surfaces are proposed for the control of lateral velocity and yaw rate. These controllers are designed directly based on the second order differential equation model which simplifies the design of sliding surface. Simulation results show that the designed controllers are effective.

Keywords

automobiles; automotive engineering; control system synthesis; differential equations; motion control; steering systems; variable structure systems; automatic steering; differential equation model; lateral velocity; nonlinear models; sliding mode controller design; sliding mode lateral motion control; sliding surface; vehicles; yaw rate; Control systems; Differential equations; Equations; History; Mathematical model; Uncertainty; Vehicles; Control of Systems with Input Nonlinear; Robust Control; Stabilization of Nonlinear Systems; Variable Structure Control; Vehicles and Transportation Systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2001 European

Conference_Location

Porto

Print_ISBN

978-3-9524173-6-2

Type

conf

Filename

7076498