This paper investigates the use of four-wheel steering system (4WS) for the automatic vehicle control in the context of path tracking. The 4WS vehicle is assumed to be set up in a previously studied look-down reference system with sensors installed on the vehicle's front and rear bumpers to measure its lateral displacements from the reference path. Past research in the path tracking control have showed the difficulties to design a controller that is robust against the intensive vehicle modeling uncertainties and disturbances. In this paper, noticed the new dynamic characteristics of 4WS vehicles, we firstly found a new robust sliding mode controller for a class of linear systems and then apply it to the path tracking problem of 4WS vehicles. Both theoretical analysis and simulations show that with the proposed controller, the system's tracking accuracy, stability and robustness against the parameter variances and external disturbances, especially the changes of road friction condition, longitudinal velocity and crosswind forces, are identically guaranteed.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust sliding mode control of 4WS vehicles for automatic path tracking


    Contributors:
    Qunzhi Zhou, (author) / Feiyue Wang, (author) / Li, L. (author)


    Publication date :

    2005-01-01


    Size :

    1090840 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Robust Sliding Mode Control of-4WS Vehicles for Automatic Path Tracking

    Zhou, Q. / Wang, F.-Y. / Li, L. et al. | British Library Conference Proceedings | 2005


    Sliding mode path tracking control for automatic steering of vehicles

    Zhang,J.R. / Rachid,A. / Xu,S.J. et al. | Automotive engineering | 2001


    Sliding Mode Path Tracking Control for Automatic Steering of Vehicles

    Rachid, A. / Zhang, J. R. / Xu, S. J. | SAE Technical Papers | 2001


    2001-01-3307 Sliding Mode Path Tracking Control for Automatic Steering of Vehicles

    Zhang, J. R. / Rachid, A. / Xu, S. J. et al. | British Library Conference Proceedings | 2001