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Since the longitudinal, lateral, and yaw dynamics of front steering vehicles are represented by nonlinear coupled equations, it is not easy to derive the explicit nonlinear controller of both steering angle and driving force for the perfect path-following control. In this paper, a novel and robust sliding mode controller for vehicles with coupled full dynamic model is presented. Comparing with the...
A lane following system is proposed that employs four constrained wheel torques to regulate a vehicle on a reference trajectory. The proposed control algorithm was developed by combining several techniques such as: DYC method, hierarchical control architecture, sliding mode controls, control distributions, and etc. Different from existing approaches, the proposed method has the following advantages:...
In this paper, an energetic swarm controller is developed that controls the swarm temperature, swarm centre position, and swarm potential energy. A sliding control approach is combined with a control allocation process to solve the overactuated control problem. The control allocation problem is solved using nonlinear programming software which allows the optimization problem to be solved with input...
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