Automotive steering control in a split-μ manoeuvre using an observer-based sliding mode controller

被引:31
作者
Hebden, RG
Edwards, C [1 ]
Spurgeon, SK
机构
[1] Univ Leicester, Dept Engn Control & Instrumentat Grp, Leicester LE1 7RH, Leics, England
[2] Univ Leicester, Dept Engn, Leicester LE1 7RH, Leics, England
基金
英国工程与自然科学研究理事会;
关键词
D O I
10.1076/vesd.41.3.181.26511
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
In this paper a sliding mode integral action controller and sliding mode observer are used to enhance vehicle stability in split-mu-manoeuvre. Anti-lock braking systems (ABS) have become an integral part of modern cars, and they have dramatically improved vehicle handling in braking manoeuvres. However, when a vehicle attempts to brake on a surface with uneven friction coefficient such as on wet or icy roads, a so-called split-mu scenario, the yaw moment generated by the asymmetric braking can prove demanding for an inexperienced driver. The controller presented here works in conjunction with a conventional ABS system to provide safe and effective braking through steer-by-wire. This paper extends previous state-feedback work by only using certain measurable quantities in the controller, estimating further signals by employing an observer.
引用
收藏
页码:181 / 202
页数:22
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