Adjust Method of Nonlinear Gain in Four-Wheel Steering Control Using Sliding Mode Control

2009 ◽  
Vol 129 (7) ◽  
pp. 1389-1396 ◽  
Author(s):  
Misawa Kasahara ◽  
Yuki Kanai ◽  
Ryoko Shiraki ◽  
Yasuchika Mori
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Steering Control ◽  
Nonlinear Gain ◽  
Mode Control

Robust steering control for trajectory following in road traffic environments

2021 ◽  
pp. 095965182110143
Author(s):  
Parth Deshpande ◽  
KB Devika ◽  
Shankar C Subramanian ◽  
Lelitha Devi Vanajakshi
Keyword(s):  
Sliding Mode Control ◽  
Road Traffic ◽  
Sliding Mode ◽  
Control Strategies ◽  
Steering Control ◽  
Reaching Law ◽  
Mode Control ◽  
Power Rate ◽  
Trajectory Following ◽  
Exponential Reaching Law

The process of modelling vehicle motion in a road traffic environment requires the integration of trajectory generation with vehicle control. The steps involved here are generating a feasible trajectory based on the existing traffic and tracking the trajectory to control it with a steering angle input. Since the parameters of a physical system vary with changes in operating conditions, it is important to consider robustness when designing controllers. This article aims at developing a trajectory-following model with robust steering control strategies to accurately follow a generated trajectory. In this study, performance-based proportional, robust proportional and sliding mode control strategies are designed for trajectory following. The robustness of the proportional controller is established using Kharitonov’s theorem, which is compared with a proportional controller tuned for performance. Sliding mode control is designed for robustness and chattering elimination using two kinds of reaching laws – a constant reaching law and a novel power rate exponential reaching law. The controllers are designed using a dynamic bicycle model considering the error with respect to the trajectory. The controllers are then evaluated in IPG CarMaker®. The resulting trajectories and control inputs are compared for the considered control methodologies using the ISO double lane change and the Slalom tests. Sliding mode control with power rate exponential reaching law is concluded to be more robust as compared to the other controllers, with lower response times, up to 84% lower heading angle deviations from the trajectory and an overshoot of only 3.2% in lane changing.

scholarly journals Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Taochang Li ◽  
Jingtao Hu
Keyword(s):  
Sliding Mode Control ◽  
Transient Process ◽  
Control Method ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Sliding Surface ◽  
Steering Control ◽  
Mode Control ◽  
Navigation Control ◽  
Integral Sliding Surface

Automatic steering control is the key factor and essential condition in the realization of the automatic navigation control of agricultural vehicles. In order to get satisfactory steering control performance, an adaptive sliding mode control method based on a nonlinear integral sliding surface is proposed in this paper for agricultural vehicle steering control. First, the vehicle steering system is modeled as a second-order mathematic model; the system uncertainties and unmodeled dynamics as well as the external disturbances are regarded as the equivalent disturbances satisfying a certain boundary. Second, a transient process of the desired system response is constructed in each navigation control period. Based on the transient process, a nonlinear integral sliding surface is designed. Then the corresponding sliding mode control law is proposed to guarantee the fast response characteristics with no overshoot in the closed-loop steering control system. Meanwhile, the switching gain of sliding mode control is adaptively adjusted to alleviate the control input chattering by using the fuzzy control method. Finally, the effectiveness and the superiority of the proposed method are verified by a series of simulation and actual steering control experiments.

Combined Sliding Mode Control with a Feedback Linearization for Speed Control of Induction Motor

2011 ◽  
Vol 7 (1) ◽  
pp. 19-24
Author(s):  
Aamir Hashim Obeid Ahmed ◽  
Martino O. Ajangnay ◽  
Shamboul A. Mohamed ◽  
Matthew W. Dunnigan
Keyword(s):  
Sliding Mode Control ◽  
Induction Motor ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Speed Control ◽  
Mode Control
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