Title :
Sliding mode control design for automated steering via Lyapunov approach
Author :
Drakunov, S. ; DeCarlo, Raymond
Author_Institution :
Dept. of Electr. Eng., Tulane Univ., New Orleans, LA, USA
Abstract :
The paper discusses sliding mode control design for nonlinear dynamic systems by means of Lyapunov functions. The approach is applied to the ground vehicle automated steering control problem. It is shown that using nonlinearity of the system it is possible to track the heading angle and yaw simultaneously by using only the steering angle input
Keywords :
Lyapunov methods; control nonlinearities; control system synthesis; nonlinear control systems; position control; road vehicles; tracking; variable structure systems; Lyapunov function; automated steering; ground vehicle; heading angle; nonlinear dynamic systems; nonlinearity; sliding mode control; tracking; yaw control; Automatic control; Control systems; Equations; Land vehicles; Lyapunov method; Sliding mode control; Tires; Vehicle dynamics; Velocity control; Wheels;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479247
