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

fYear

2008

fDate

8-10 June 2008

Firstpage

35

Lastpage

40

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/VSS.2008.4570679

Filename

4570679