Title :
Steering control of vehicles by discontinuous control approach
Author :
Liu, Kang-Zhi ; Kanahara, Teru
Author_Institution :
Dept. of Electron. & Mech. Eng., Chiba Univ., Japan
Abstract :
In this paper, a discontinuous nonlinear control approach is proposed for the stabilization control of a class of nonholonomic systems which include the steering of two-wheel and four-wheel cars. This approach is capable of realizing either global finite time stability or uniformly globally ultimate boundedness. Further, in the applications to the steering control of vehicles, it is shown how to incorporate physical intuition into design so as to obtain continuous inputs that can be implemented
Keywords :
automobiles; nonlinear control systems; stability; discontinuous nonlinear control approach; four-wheel cars; global finite time stability; nonholonomic systems; stabilization; two-wheel cars; uniformly globally ultimate boundedness; vehicle steering control; Books; Control systems; Lyapunov method; Mechanical engineering; Nonlinear control systems; Nonlinear systems; Stability; Vehicles;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945942
