Observer based sliding mode controller for vehicles with roll dynamics
| Autor: | Jorge E. Ruiz-Duarte, Luis E. González-Jiménez, Juan J. Ley-Rosas, Alexander G. Loukianov |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Observer (quantum physics) Computer Networks and Communications Computer science Applied Mathematics Mode (statistics) 02 engineering and technology CarSim Tracking (particle physics) Nonlinear system 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Control and Systems Engineering Control theory Signal Processing Trajectory Actuator |
| Zdroj: | Journal of the Franklin Institute. 356:2559-2581 |
| ISSN: | 0016-0032 |
| DOI: | 10.1016/j.jfranklin.2018.11.031 |
| Popis: | In this work, considering the roll dynamics and actuator dynamics, an observer-based control scheme for a vehicle is proposed. The proposal considers a nonlinear higher order sliding mode observer to estimate unmeasurable lateral velocity, roll angle and roll velocity. Using the observer information, a controller based on block control with sliding mode technique is designed for the reference trajectory tracking of the lateral and yaw velocities of the vehicle. The stability of the complete closed-loop system including zero dynamics is analyzed. The effectiveness of the proposed scheme is demonstrated through CarSim simulations. |
| Databáze: | OpenAIRE |
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