HOSM Controller Using PI Sliding Manifold for an Integrated Active Control for Wheeled Vehicles
| Autor: | Stefano Di Gennaro, Antonio Navarrete Guzmán, Claudia Carolina Vaca García, Cuauhtémoc Acosta Lúa |
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| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Article Subject Computer science General Mathematics 020208 electrical & electronic engineering Yaw General Engineering 02 engineering and technology CarSim Engineering (General). Civil engineering (General) Stability (probability) Manifold Attitude control Computer Science::Robotics symbols.namesake 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering symbols Trajectory QA1-939 TA1-2040 Mathematics |
| Zdroj: | Mathematical Problems in Engineering, Vol 2021 (2021) |
| ISSN: | 1563-5147 |
| Popis: | This study considers the design of a modified high-order sliding mode (HOSM) controller using a PI sliding surface to the attitude control of a ground vehicle. A robust-modified HOSM controller is derived, so that the lateral velocity and yaw rate tracks the desired trajectory despite the environment actions acting on the ground vehicle and parameter variations. The stability is guaranteed with Lyapunov’s stability theorem function. The performance of the dynamic controllers is evaluated using the CarSim simulator considering a challenging double steer maneuver. |
| Databáze: | OpenAIRE |
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