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The purpose of the paper is to propose a new control scheme in active front steering (AFS) for vehicle stability using disturbance observer method. In the paper, the ideal yaw rate can be calculated on the linear two-degrees-of-freedom vehicle model. In addition, the actual sideslip angle can also be estimated by using a state observer. Based on this, two kinds of baseline AFS controllers are proposed...
This paper is concerned with the disturbance estimation and state recovery of autonomous surface vehicles in the presence of uncertainty and unmeasured surge, sway, and yaw velocities by using the position-yaw measurements only. The uncertainty stems from parametric model uncertainty, unmodelled hydrodynamics, and external disturbance, which are induced by wind, waves and ocean currents. By using...
The method to obtain the dynamics of second-order sliding mode (SOSM) is usually adopted by directly taking second derivative on the sliding variable s. However, some uncertain terms will appear in the first derivative of the sliding variable. As a matter of fact, the second derivative imposing on these uncertain terms will enlarge the uncertainties in the control channel. This paper presents an effective...
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