Fuzzy sliding mode control algorithm for a four-wheel skid steer vehicle

被引：26

作者：

Aslam, Jawad ^{[1
]}

Qin, Shi-Yin ^{[2
]}

Alvi, Muhammad Adnan ^{[2
]}

机构：

[1] NUST, Sch Mech & Mfg Engn, Islamabad 44000, Pakistan

[2] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

来源：

JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2014年 / 28卷 / 08期

基金：

中国国家自然科学基金;

关键词：

Four-wheel skid steering; Fuzzy sliding mode control; Semi-empirical tire modeling; Trajectory tracking; TM-easy tire model;

D O I：

10.1007/s12206-014-0741-y

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This research design and implement a robust dynamic feedback controller for a four-wheel skid steering vehicle (SSV) under highspeed cornering motion. First, SSV dynamics are modeled and analyzed to construct the simulation environment and to validate the performance of the proposed algorithm. A robust fuzzy-sliding mode controller is then designed to offset the effect of forces induced by wheel-soil interaction during skidding and ground-level fluctuations. It also eliminates the chattering phenomena encountered with conventional sliding mode control. Given P-3AT mobile robot parameters for trajectory tracking and velocity setting, extensive simulation results demonstrate the effectiveness of the proposed controller.

引用

页码：3301 / 3310

页数：10

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