Abstract: The problem of modelling and controlling the longitudinal motion of front wheels propelled vehicles is considered. Chassis dynamics are modelled applying the relevant fundamental laws tacking into account the aerodynamic effects and the road slop variation. The longitudinal slip, resulting from tire deformation, is captured through Kiencke's model. Despite its highly nonlinear nature the global model turns out to be utilizable in longitudinal control design. We have developed a bicycle-type model of vehicles moving in longitudinal acceleration/deceleration modes. The model, described by DeCarlo (2002), accounts for aerodynamic effects, road slop variation and longitudinal slip. Despite its high nonlinearity, the model proved to be useful in speed control design. One key step in the control design was the finding of the sliding function that led to controllers. The latter ensure that the sliding surface S = 0 is exponentially attractive and this in turn implies the achievement of the vehicle speed tracking objective. One crucial feature of the closed-loop performance analysis was the proof that the model validity domain is an invariant set of the closed-loop system. Interestingly, the validity domain corresponds to the normal operation conditions of the vehicle.


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    Title :

    Vehicle longitudinal control using Kiencke's tire model and sliding mode control design


    Contributors:
    Majdoub, K. (author) / Giri, F. (author) / Ouadi, H. (author) / Chaoui, F.Z. (author)


    Publication date :

    2010


    Size :

    6 Seiten, 4 Bilder, 3 Tabellen, 16 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





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