• DocumentCode
    2860788
  • Title

    Sliding mode control design for automated steering via Lyapunov approach

  • Author

    Drakunov, S. ; DeCarlo, Raymond

  • Author_Institution
    Dept. of Electr. Eng., Tulane Univ., New Orleans, LA, USA
  • Volume
    4
  • fYear
    1995
  • fDate
    13-15 Dec 1995
  • Firstpage
    4086
  • Abstract
    The paper discusses sliding mode control design for nonlinear dynamic systems by means of Lyapunov functions. The approach is applied to the ground vehicle automated steering control problem. It is shown that using nonlinearity of the system it is possible to track the heading angle and yaw simultaneously by using only the steering angle input
  • Keywords
    Lyapunov methods; control nonlinearities; control system synthesis; nonlinear control systems; position control; road vehicles; tracking; variable structure systems; Lyapunov function; automated steering; ground vehicle; heading angle; nonlinear dynamic systems; nonlinearity; sliding mode control; tracking; yaw control; Automatic control; Control systems; Equations; Land vehicles; Lyapunov method; Sliding mode control; Tires; Vehicle dynamics; Velocity control; Wheels;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
  • Conference_Location
    New Orleans, LA
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-2685-7
  • Type

    conf

  • DOI
    10.1109/CDC.1995.479247
  • Filename
    479247
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2860788