In these days, tracking control for vehicles with nonlinear dynamics is intensively studied. Especially when vehicles run at low speed, exact linearization based on time-state controller form realizes exponential convergence to the reference trajectory. When a vehicle corners a curve at high speed, however, tracking error due to sideslip angle of tires appears. To recover the exponential convergence and to compensate for the uncertainty of tire force, a sliding mode control for active front steering vehicle has been proposed by one of the author. In this study, that method is applied to a RC model car to explore the possibilities of indoor type high speed mobile robots.
Application and test of sliding mode control for indoor vehicles
2009
6 Seiten, 6 Quellen
Aufsatz (Konferenz)
Englisch
Sliding mode control for urban vehicles platooning
IEEE | 2008
|Sliding Mode Control for Urban Vehicles Platooning
British Library Conference Proceedings | 2008
|Sliding Mode Control for Unmanned Aerial Vehicles Research
Springer Verlag | 2015
|Adaptive Backstepping Sliding Mode Control of Air-Breathing Hypersonic Vehicles
DOAJ | 2020
|