Differential Steering System for Vehicular Yaw Tracking Motion with Help of Sliding Mode Control
| Autor: | Oliver Kruse, Aidana Mukhamejanova, Paolo Mercorelli |
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| Přispěvatelé: | Popescu, Dan, Barbulescu, Lucian-Florentin, Popescu, Elvira, Roman, Monica, Sendrescu, Dorin |
| Rok vydání: | 2022 |
| Předmět: | |
| Zdroj: | Kruse, O, Mukhamejanova, A & Mercorelli, P 2022, Differential Steering System for Vehicular Yaw Tracking Motion with Help of Sliding Mode Control . in D Popescu, L-F Barbulescu, E Popescu, M Roman & D Sendrescu (eds), 23rd International Carpathian Control Conference, ICCC 2022 . 23rd International Carpathian Control Conference, ICCC 2022, Institute of Electrical and Electronics Engineers Inc., pp. 58-63, 23rd International Carpathian Control Conference, ICCC 2022, Sinaia, Romania, 29.05.22 . https://doi.org/10.1109/ICCC54292.2022.9805966 |
| DOI: | 10.1109/iccc54292.2022.9805966 |
| Popis: | The paper deals with modeling and control of differential steering for vehicular motions with help of sliding mode control (SMC). A four-wheel mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the SMC is proposed for yaw dynamics to improve travel comfort and the stability of vehicular motion. The desired yaw trajectory is given, and the equivalent and corrective control parts of the SMC are dually calculated by the controller. Simulation results show the effectiveness of the proposed control strategy. |
| Databáze: | OpenAIRE |
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