This paper deals with the observer design problem for automatic steering of vehicles which have uncertain parameters. The lateral motion of the vehicles is considered, and the variation of cornering stiffness coefficients is treated as model perturbations. A sliding mode observer is derived, which is robust against the model perturbations, such that the observation errors converge to zero asymptotically in finite time. Simulation results show that the designed observer is satisfactory.
Robust sliding mode observer for automatic steering of vehicles
01.01.2000
444358 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Robust Sliding Mode Observer for Automatic Steering of Vehicles
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