Title :
Experimental evaluation of a chatter free sliding mode control for lateral control in AHS
Author :
Hingwe, Pushkar ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
Presents the design and experimental evaluation of a vehicle lateral controller for automated highway systems (AHS) based on sliding mode control (SMC). The primary control objective is to track the lane center line. The dynamic model of the, vehicle is nonlinear and has parametric uncertainties. SMC, a robust control technique is used to take care of the nonlinearities and parametric uncertainties in the model. Importance is given to reduction or elimination of the control chatter inherent in the SMC systems involving switching functions. An SMC based controller is designed such that asymptotic tracking is assured without chatter. A robust observer is designed for lateral velocity estimation. Closed loop experiments done on a passenger car are presented
Keywords :
automated highways; automobiles; control nonlinearities; control system synthesis; observers; position control; robust control; state estimation; variable structure systems; asymptotic tracking; automated highway systems; center line tracking; chatter free sliding mode control; closed loop experiments; control chatter; lateral control; lateral velocity estimation; parametric uncertainties; passenger car; robust control technique; robust observer; Automated highways; Automatic control; Control systems; Mechanical engineering; Road vehicles; Robustness; Shape control; Sliding mode control; Uncertainty; Vehicle dynamics;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.612089
