Title :
A study of SDRE and ISMC combined scheme with application to vehicle brake control
Author :
Liang, Yew-Wen ; Wei, Yuan-Tin ; Liaw, Der-Cherng ; Cheng, Chiz-Chung ; Lin, Li-Gang
Author_Institution :
Dept. of Electr. Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
Issues regarding robust stabilization of a class of nonlinear uncertain systems using a combined scheme are addressed. This scheme consists of the State Dependent Riccati Equation (SDRE) technique for the control of nominal system, and the Integral Sliding Mode Control (ISMC) strategy which compensates the error when the system state deviates from the nominal system´s trajectory. It is shown that the state of the uncertain system using the combined scheme and that of the nominal system under the SDRE scheme are exactly the same when the uncertainties are matched type. These analytic results are also applied to the brake control of a three-wheeled vehicle. Simulation results demonstrate the benefits of the proposed scheme.
Keywords :
Riccati equations; brakes; error compensation; stability; uncertain systems; variable structure systems; error compensation; integral sliding mode control; nonlinear uncertain system; robust stabilization; state dependent Riccati equation technique; uncertain system; vehicle brake control; Manifolds; Robustness; Trajectory; Uncertain systems; Uncertainty; Vehicles; Wheels; Robust stabilization; integral sliding mode control; state dependent Riccati equations;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
