Second order sliding modes control for rope winch based automotive driver robot

被引：9

作者：

Alt, Benedikt ^{[1
]}

Hermann, Elias ^{[1
]}

Svaricek, Ferdinand ^{[1
]}

机构：

[1] Univ German Armed Forces Munich, Control Engn Grp, Dept Aerosp Engn, D-85577 Neubiberg, Germany

来源：

INTERNATIONAL JOURNAL OF VEHICLE DESIGN | 2013年 / 62卷 / 2-4期

关键词：

second order sliding modes control; variable structure systems; electrical drives; automotive applications; VARIABLE-STRUCTURE CONTROL; DC DRIVES; SYSTEMS; ORDER;

D O I：

10.1504/IJVD.2013.052707

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this contribution a second order sliding modes control algorithm for position tracking of an in-vehicle driver robot is introduced. For this purpose a recently developed rope winch based automotive driver robot is considered. Here, the distance between a brake, clutch or accelerator pedal and the ground of the driver's cab should follow a given reference value. Nonlinear simulations and experimental results show the efficiency and the robustness properties of the proposed second order sliding modes control design approach.

引用

页码：147 / 164

页数：18

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