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

页码：280 / 285

页数：6

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