Title :
A sliding mode theory based chassis controller for vehicle emulation
Author :
Akar, Mehmet ; Kalkkuhl, Jens C.
Author_Institution :
Dept. of Electr. & Electron. Eng., Bogazici Univ., Istanbul
Abstract :
In this paper, we investigate the emulation capabilities of an integrated chassis controller (ICC) we have designed for vehicle emulation. The proposed ICC is primarily based on sliding mode theory, and it utilizes 4-wheel automatic steering and active suspension units for emulating desired lateral and vertical motion. The performance of the ICC is evaluated by realistic experiments in an advanced nonlinear simulator, and it is seen that a broad range of ground vehicles can be emulated successfully.
Keywords :
motion control; nonlinear control systems; road vehicles; steering systems; suspensions (mechanical components); traffic control; variable structure systems; 4-wheel automatic steering; active suspension units; advanced nonlinear simulator; ground vehicles; integrated chassis controller; lateral motion; sliding mode theory; vehicle emulation; vertical motion; Automatic control; Emulation; Force control; Land vehicles; Motion control; Road safety; Road vehicles; Sliding mode control; Testing; Vehicle dynamics;
Conference_Titel :
Variable Structure Systems, 2008. VSS '08. International Workshop on
Conference_Location :
Antalya
Print_ISBN :
978-1-4244-2199-2
Electronic_ISBN :
978-1-4244-2200-5
DOI :
10.1109/VSS.2008.4570679
