Analysis and Design of Automatic Steering Sliding Mode Control

Xi Jun Zhao; Wei Zhang; Hai Ou Liu; Hui Yan Chen

doi:10.4028/www.scientific.net/AMR.179-180.762

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 179-180Analysis and Design of Automatic Steering Sliding...

Analysis and Design of Automatic Steering Sliding Mode Control

Abstract:

A kind of intelligent vehicle–road model based on look-ahead reference system is established. According to the state equation, a novel sliding mode variable structure control algorithm is proposed. The sliding function is defined using pole placement technology, while the trending motion is determined by exponential reaching law. Accordingly, the effect of poles and reaching law parameters to close loop control system is analyzed in depth in order to design a good performance automatic control system. Finally, the developed sliding mode controller is validated by simulation study. Simulation results show that the designed controller has good performance in road tracking scenario.

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Periodical:

Advanced Materials Research (Volumes 179-180)

Pages:

762-767

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.179-180.762

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Online since:

January 2011

Authors:

Xi Jun Zhao, Wei Zhang, Hai Ou Liu, Hui Yan Chen

Keywords:

Automatic Steering, Pole Placement, Reaching Law, Sliding Mode Control (SMC)

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References

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