Lateral motion control of four-wheels steering vehicle using a sliding-mode controller

Author

Solea, R. ; Filipescu, A. ; Cernega, D.

Author_Institution

Control Syst. & Ind. Inf. Dept., Dunarea de Jos Univ. of Galati, Galati, Romania

fYear

2010

fDate

29-31 July 2010

Firstpage

3699

Lastpage

3703

Abstract

In this paper a lateral motion control using a sliding-mode controller (SMC) for four-wheels driving and steering (4WDS) vehicle is presented. The lane centerline following by look-ahead techniques is main control performance. The dynamic model of a linear 2 DOF bicycle mode has been taken into account. The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering. The effectiveness of the proposed sliding-mode controller is demonstrated by closed-loop simulation results for 4WDS Seekur robot base.

Keywords

bicycles; closed loop systems; mobile robots; motion control; steering systems; variable structure systems; wheels; Seekur robot base; closed loop control; four wheel steering vehicle; lateral motion control; linear 2 DOF bicycle model; look ahead technique; sliding mode control; Mobile robots; Object oriented modeling; Roads; Sliding mode control; Trajectory; Vehicles; Four-Wheel Driving and Steering Vehicle; Seekur Robot Base; Sliding-Mode Controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2010 29th Chinese

Conference_Location

Beijing

Print_ISBN

978-1-4244-6263-6

Type

conf

Filename

5573741