Self-tuning sliding mode controller design for a class of nonlinear control systems

2008 ◽  
Author(s):  
Yao-Chu Hsueh ◽  
Shun-Feng Su ◽  
Wen-June Wang
Keyword(s):  
Nonlinear Control ◽  
Control Systems ◽  
Controller Design ◽  
Sliding Mode ◽  
Nonlinear Control Systems ◽  
Sliding Mode Controller ◽  
Self Tuning

A Global Approach to Vehicle Control: Coordination of Four Wheel Steering and Wheel Torques

1994 ◽  
Vol 116 (4) ◽  
pp. 659-667 ◽  
Author(s):  
Ssu-Hsin Yu ◽  
John J. Moskwa
Keyword(s):  
Control Systems ◽  
Controller Design ◽  
Sliding Mode ◽  
Vehicle Control ◽  
Point Of View ◽  
Sliding Mode Controller ◽  
Global Approach ◽  
Ground Vehicles ◽  
Advanced Control ◽  
Simulation Results

Currently, advanced control systems implemented on production ground vehicles have the goal of promoting maneuverability and stability. With proper coordination of steering and braking action, these goals may be achieved even when road conditions are severe. This paper considers the effect of steering and wheel torques on the dynamics of vehicular systems. Through the input-output linearization technique, the advantages of four-wheel steering (4WS) system and independent torques control are clear from a mathematical point of view. A sliding mode controller is also designed to modify driver’s steering and braking commands to enhance maneuverability and safety. Simulation results show the maneuverability and safety are improved. Although the controller design is based on a four-wheel steering vehicle, the algorithm can also be applied to vehicles of different configurations with slight changes.

LUT Controller Design with Piecewise Bilinear Systems Using Estimation of Bounds for Approximation Errors

2013 ◽  
Vol 17 (6) ◽  
pp. 828-840 ◽  
Author(s):  
Tadanari Taniguchi ◽  
◽  
Luka Eciolaza ◽  
Michio Sugeno ◽  
Keyword(s):  
Nonlinear Control ◽  
Control Systems ◽  
Feedback Linearization ◽  
Controller Design ◽  
Robust Stabilization ◽  
Nonlinear Control Systems ◽  
Input Output ◽  
Modeling Error ◽  
Look Up Table ◽  
Approximation Errors

We propose the stabilization of nonlinear control systems approximated by Piecewise Bilinear (PB) models. The approximated model is fully parametric and a Look-Up-Table (LUT) represents its controller. Input-Output (I/O) feedback linearization is applied to stabilize PB control systems. We further propose PB modeling combined with conventional feedback linearization as a very powerful tool for analyzing and synthesizing nonlinear control systems. We also propose a method for designing robust stabilization controllers taking modeling error into consideration. Examples confirm the feasibility of our proposals.

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