Abstract
This study considers the design of a modified high-order sliding mode (HOSM) controller using a PI sliding surface to the attitude control of a ground vehicle. A robust-modified HOSM controller is derived, so that the lateral velocity and yaw rate tracks the desired trajectory despite the environment actions acting on the ground vehicle and parameter variations. The stability is guaranteed with Lyapunov’s stability theorem function. The performance of the dynamic controllers is evaluated using the CarSim simulator considering a challenging double steer maneuver.
Highlights
Academic Editor: Rongwei Guo is study considers the design of a modified high-order sliding mode (HOSM) controller using a PI sliding surface to the attitude control of a ground vehicle
A robust-modified HOSM controller is derived, so that the lateral velocity and yaw rate tracks the desired trajectory despite the environment actions acting on the ground vehicle and parameter variations. e stability is guaranteed with Lyapunov’s stability theorem function. e performance of the dynamic controllers is evaluated using the CarSim simulator considering a challenging double steer maneuver
Introduction e integrated active control for wheeled vehicles is an important topic due to improving the drivability and safety of the vehicle in a critical situation. is active control employs electronic actuators in the vehicles. e new actuators offer great flexibility when a design control architecture allows the controller to be designed as a separate block. is decoupling helps to design the controller as an active front steering (AFS) or rear torque vectoring (RTV). e AFS controller imposes a steering angle to correct the action of the driver. e RTV controller imposes an active action in the yaw momentum of the vehicle
Summary
Academic Editor: Rongwei Guo is study considers the design of a modified high-order sliding mode (HOSM) controller using a PI sliding surface to the attitude control of a ground vehicle. E control action is usually determined using approximation models because they capture the main aspect of the physics of the problem These mathematical models can be extended due to the presence of parameter uncertainties/variations and the presence of disturbances acting on the vehicle, among which are the change of parameters due to the road condition and the environmental disturbance acting on the vehicle (front and lateral wind). Mathematical Problems in Engineering velocity and angular references despite variations in some parameters and external disturbances such as wind gusts For this purpose, the active front steering (AFS) and rear torque vectoring (RTV) are considered as the integrated active control, and the aim is to improve the performance of the control system applied in automobiles. CarSim delivers the most accurate, detailed, and efficient methods for simulating the performance of passenger vehicles and is supported by automotive enterprises, such as the Ford Motor Company and Chrysler
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