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This paper proposes an active steering method using adaptive sliding mode control to estimate the upper bounds of time-derived hyperplane and uncertainties of lateral forces. This is achieved by utilizing a state-dependent switching function based on state-dependent Riccati equation (SDRE) for the four-wheel-steering vehicle; it takes lateral force saturation characteristics into account. Our proposed...
This article studies a kind of grinding wheel dynamic balance control device sliding variable structure controller based on the grinding wheel dynamic balance observation system mathematical model. It has proposed a new kind of method for improving the dynamic performance of balance block control system, which applies variable structure control theory and quoted non-linear switching function and has...
In a companion paper submitted to VSS 2010, we have addressed the design of sliding mode tracking control for single-input-single-output (SISO) uncertain nonlinear plants with unknown sign of the high frequency gain, that is, with unknown control direction. We have demonstrated that it is possible to achieve global exact tracking using only output-feedback by combining a periodic switching function...
Longitudinal wheel slip control is a crucial problem in automotive systems, as it it is the basis for traction, braking and stability control. As slip dynamics are critically dependent on the vehicle speed, it is interesting to devise an adaptation of the controller parameters with respect to this variable. To achieve this, the present paper proposes a novel switched second order sliding mode (S-SOSM)...
According to the nonlinear and parameter time-varying characteristics of vehicle stability control, a sliding control algorithm is proposed based on radial base function (RBF) neural network. The algorithm not only can reduce the chattering caused by the conventional sliding mode, but also improve the robust of the adaptive neural network control. The simulation results show the algorithm ensures...
According to the nonlinear and parameter time-varying characteristics of vehicle stability control, an adaptive fuzzy sliding control algorithm is proposed in terms of fuzzy control principle and the approximation capability of fuzzy systems. The fuzzy sliding controller is designed based on fuzzy logic and sliding control. The switching function of sliding surface is fuzzied by the Membership function...
A new dynamic model for a class of two-wheeled mobile robot (2WMR), whose mass centre locates below its wheel axis, is presented. The dynamic model considered as the motion of an underactuated vehicle body can represent the time-varying horizontal distance of the mass centre with respect to the configuration centre. This model can describe the dynamic behaviours of the robot more accurately. By the...
In this paper, a dynamic obstacle avoidance strategy for mobile robots is proposed. The strategy consists of two key elements: an on-line reference generator and a control scheme to make the robot track the reference signals so as to reach a pre-specified goal point. To generate the online reference signals, a harmonic potential field for dynamic environments is exploited. The potential field is modified...
Automotive SBC system is a nonlinear time-varying and uncertain system, tire character changes in the scope of large, and vehicles model is uncertain, so it is difficult to establish the precise mathematical model for non-linear vehicle braking process. Based on the basis of model parameters gaining the estimated optimal slip rate, this paper presents using adaptive RBF neural network sliding mode...
In recent years, anti-lock brake system and brake-by-wire are proposed in the vehicle control using a brake, and the braking power is expected to be improved more than ever. The researches such as an application to the ABS of Siliding mode control which considered a actuator dynamics and a hybrid control of the brake using model reference adaptive control are done so far. However, in the former case,...
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