This paper deals with a position control design for a rope winch based in-vehicle pedal robot. That means, the actuator is mounted on any brake, accelerator or clutch pedal and it is connected with a rope to the ground of the driver's cab. If the robot's PM-DC drive is engaged the overall arrangement of pedal and actuator moves down. If the PM-DC drive is disengaged the pedal returns to its initial position. When the driver steers the vehicle manually the distance between the pedal and the ground of the driver's cab is measured with an optical sensor. This reference signal is transformed into an angular position of the PM-DC drive. If the driver wants to reproduce the manoeuvre on the test track a position controller will be enabled which minimises the error signal between the reference position and the measured angular position signal. From the control engineer's point of view this means that this position controller should show good tracking behaviour and reasonable robustness properties despite any model uncertainties and unknown load torques which result from the return springs of different pedal arrangements. In the field of robust control it is well known that second order sliding modes controllers guarantee excellent robustness properties and alleviate any chattering effects. Moreover, the so-called super twisting algorithm does not need any information of higher-order time derivatives of the sliding variable. For this purpose a super twisting controller is applied to the present in-vehicle robot. The efficiency and the robustness properties are illustrated with representative simulations and experimental results. Since these preliminary test rig results are promising current research focuses on the implementation into the institute's research vehicle.


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    Title :

    Second order sliding modes control for rope winch based automotive driver robot


    Additional title:

    Gleitende Regelung zweiter Ordnung eines seilwindenbasierten Kfz-Fahrerroboters


    Contributors:

    Published in:

    Publication date :

    2013


    Size :

    18 Seiten, 13 Bilder, 1 Tabelle, 29 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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