Lateral Motion Control of Four-Wheels Steering Vehicle Using a Sliding-Mode Controller

被引：0

作者：

Solea, R. ^{[1
]}

Filipescu, A. ^{[1
]}

Cernega, D. ^{[1
]}

机构：

[1] Dunarea de Jos Univ Galati, Fac Comp Sci, Control Syst & Ind Informat Dept, Domneasca 47, Galati 800008, Romania

来源：

PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE | 2010年

关键词：

Sliding-Mode Controller; Four-Wheel Driving and Steering Vehicle; Seekur Robot Base;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper a lateral motion control using a sliding-mode controller (SMC) for four-wheels driving and steering (4WDS) vehicle is presented. The lane centerline following by look-ahead techniques is main control performance. The dynamic model of a linear 2 DOF bicycle mode has been taken into account. The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering. The effectiveness of the proposed sliding-mode controller is demonstrated by closed-loop simulation results for 4WDS Seekur robot base.

引用

页码：3699 / 3703

页数：5

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