HOSM Controller Using PI Sliding Manifold for an Integrated Active Control for Wheeled Vehicles-Reference-Cited by-同舟云学术

HOSM Controller Using PI Sliding Manifold for an Integrated Active Control for Wheeled Vehicles

Published:2021-06-03 Issue: Volume:2021 Page:1-12
ISSN:1563-5147
Container-title:Mathematical Problems in Engineering
language:en
Short-container-title:Mathematical Problems in Engineering

Author:

Guzmán Antonio Navarrete¹²^ORCID,Vaca García Claudia Carolina³^ORCID,Di Gennaro Stefano⁴⁵^ORCID,Lúa Cuauhtémoc Acosta³⁵^ORCID

Affiliation:

1. Department of Electrical and Electronic Engineering at the National Technological Institute of Mexico Campus Tepic, Av. Tecnológico 2595, Tepic 63175, Nayarit, Mexico

2. Academic Unit of Basic Sciences and Engineering of the Autonomous University of Nayarit, City of Culture “Amado Nervo”, Tepic, Nayarit, Mexico

3. Departamento De Ciencias Tecnológicas, Universidad De Guadalajara, Centro Universitario De La Ciénega, Av. Universidad 1115, Ocotlán 47820, Jalisco, Mexico

4. Department of Information Engineering, Computer Science and Mathematics, Via Vetoio, Loc. Coppito, L’Aquila 67100, Italy

5. Center of Excellence DEWS, University of L’Aquila, Via Vetoio, Loc. Coppito, L’Aquila 67100, Italy

Abstract

This study considers the design of a modified high-order sliding mode (HOSM) controller using a PI sliding surface to the attitude control of a ground vehicle. A robust-modified HOSM controller is derived, so that the lateral velocity and yaw rate tracks the desired trajectory despite the environment actions acting on the ground vehicle and parameter variations. The stability is guaranteed with Lyapunov’s stability theorem function. The performance of the dynamic controllers is evaluated using the CarSim simulator considering a challenging double steer maneuver.

Funder

Ministry of Foreign Affairs and International Cooperation

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

Link

http://downloads.hindawi.com/journals/mpe/2021/5482421.pdf

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