Nonlinear tracking controller design for steer-by-wire automotive systems

被引：10
作者：
Setlur, P [1 ]
Dawson, D [1 ]
Wagner, J [1 ]
Fang, Y [1 ]
机构：
[1] Clemson Univ, Automot Res Lab, Clemson, SC 29634 USA
来源：
PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2002年 / 1-6卷
关键词：
D O I：
10.1109/ACC.2002.1024817
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 continuous time-varying tracking controller is designed for a steer-by-wire system in a automotive vehicle to ensure that the vehicle's position/orientation. follow that of a reference generator. The tracking err-or is globally exponentially forced to a neighborhood about zero that can be made arbitrarily small (i.e., global uniformly ultimately boundedness. The result is facilitated by transforming the system into a flat input-state system and then fusing a filtered tracking error transformation with the dynamic oscillator design. We also illustrate that the proposed tracking Controller yields a globally uniformly ultimately bounded result for the regulation problem.
引用
收藏
页码：280 / 285
页数：6
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