DocumentCode
1751464
Title
Steering control of vehicles by discontinuous control approach
Author
Liu, Kang-Zhi ; Kanahara, Teru
Author_Institution
Dept. of Electron. & Mech. Eng., Chiba Univ., Japan
Volume
2
fYear
2001
fDate
2001
Firstpage
1521
Abstract
In this paper, a discontinuous nonlinear control approach is proposed for the stabilization control of a class of nonholonomic systems which include the steering of two-wheel and four-wheel cars. This approach is capable of realizing either global finite time stability or uniformly globally ultimate boundedness. Further, in the applications to the steering control of vehicles, it is shown how to incorporate physical intuition into design so as to obtain continuous inputs that can be implemented
Keywords
automobiles; nonlinear control systems; stability; discontinuous nonlinear control approach; four-wheel cars; global finite time stability; nonholonomic systems; stabilization; two-wheel cars; uniformly globally ultimate boundedness; vehicle steering control; Books; Control systems; Lyapunov method; Mechanical engineering; Nonlinear control systems; Nonlinear systems; Stability; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2001. Proceedings of the 2001
Conference_Location
Arlington, VA
ISSN
0743-1619
Print_ISBN
0-7803-6495-3
Type
conf
DOI
10.1109/ACC.2001.945942
Filename
945942
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