Sliding mode controller for automatic steering of vehicles

Zhang, J.R.; Xu, Shaochuan; Rachid, A.

doi:10.1109/iecon.2001.975626

Cited by 16 publications

(6 citation statements)

References 10 publications

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“…In mobile robot navigation, the path tracking problem is highly nonlinear, and several approaches have been developed to solve the problem of path tracking through direct control of the robot's dynamics, such as sliding mode control and controllers based on the Lyapunov approach [14] [ 15]. These methods were applied to the nonlinear dynamic and kinematical model of the robot.…”

Section: Design Of the Fuzzy Logic Controllermentioning

confidence: 99%

Application of a novel polarization sensor to mobile robot navigation

Chu

Wang

Chen

et al. 2009

2009 International Conference on Mechatronics and Automation

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Orientation and position information are indispen~able in mobile robot navigation. In this paper, a novel polarization sensor for getting orientation information is introduced. It exports an absolute azimuth angle. To take it effect in mobile robot navigation, a fuzzy logic controller is designed. It can direct the robot walking along the designed trajectory according to the information from the polarization sensor. Assisted by the wheel encoders, some navigation experiments are implemented outdoors. The result indicates that the error of the polarizatioñ ensor is independent of the travel distance and it can play an Important role in automatic navigation system in a further way.

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Section: Design Of the Fuzzy Logic Controllermentioning

confidence: 99%

Application of a novel polarization sensor to mobile robot navigation

Chu

Wang

Chen

et al. 2009

2009 International Conference on Mechatronics and Automation

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“…There is a vast amount of literature on active steering to control vehicle lateral dynamics [3][4][5][6][7][8][9][10][11][12][13][14][15][16]. Earlier designs relied on gain-scheduled feed-forward control to command the rear wheels as a function of the front steering angle [3].…”

Section: Introductionmentioning

confidence: 99%

Lateral dynamics emulation via a four-wheel steering vehicle

Akar¹,

Kalkkuhl²

2008

Vehicle System Dynamics

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In this paper, we examine the lateral dynamics emulation capabilities of an automotive vehicle equipped with four-wheel steering. We first demonstrate that the lateral dynamics of a wide range of vehicles can be emulated, either with little or with no modification on the test vehicle. Then we discuss a sliding mode controller for active front and rear wheel steering, in order to track some given yaw rate and sideslip angle. Analytically, it is shown that the proposed controller is robust to plant parameter variations by ±10%, and is invariant to unmeasurable wind disturbance. The performance of the sliding mode controller is evaluated via computer simulations to verify its robustness to vehicle parameter variations and delay in the loop, and its insensitivity to wind disturbance. Finally, the emulation of a bus, a van, and two commercially available passenger vehicles is demonstrated in an advanced nonlinear simulator.

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“…In [7] the nonlinear dynamic model of the robot with coupled inputs is obtained in state space representation, using a nonlinear transformation the inputs are decouple, and state space trajectory is used as a reference. The controller uses the state trajectory starting from any point of state space and converges asymptotically on sliding surface towards an equilibrium position.…”

Section: Introductionmentioning

confidence: 99%

“…Other types of controllers were designed [3][4][5][6] using nonlinear techniques and were applied to the nonlinear kinematic and dynamic model of the robot. In [7] the nonlinear dynamic model of the robot with coupled inputs is obtained in state space representation, using a nonlinear transformation the inputs are decouple, and state space trajectory is used as a reference.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode fuzzy control of a skid steer mobile robot for path following

Nazari

Naraghi

2008

2008 10th International Conference on Control, Automation, Robotics and Vision

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In this paper, robust sliding mode fuzzy logic control of a four-wheel differentially driven skid steer mobile robot, for path following is considered. This approach combines basic principles of Sliding Mode Control (SMC) with Fuzzy Logic Control (FLC). The path comprises a sequence of discrete waypoints. A novel approach in path extraction interpolates waypoints by means of quadratic curve to generate a continuous reference path. The positional data of waypoints are obtained using a vision system mounted on the mobile robot. Experimental study has been carried out to evaluate the performance of the proposed controller and to compare its performance with a conventional fuzzy logic controller performance. The experimental results show that the proposed controller has achieved superior performance in the presence of model uncertainties and external disturbances with minimum reaching time, minimum distance error, and smooth control actions.

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Sliding mode controller for automatic steering of vehicles

Cited by 16 publications

References 10 publications

Application of a novel polarization sensor to mobile robot navigation

Application of a novel polarization sensor to mobile robot navigation

Lateral dynamics emulation via a four-wheel steering vehicle

Sliding mode fuzzy control of a skid steer mobile robot for path following

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