Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion
نویسندگان
چکیده
This paper deals with the modelling and control of differential steering for vehicular motions help Sliding Mode Control (SMC) a Super-Twisting Algorithm (STA). A single-track mechanical model dynamics is proposed validated by simulations. strategy based on STA yaw to improve travel comfort stability motion. The desired trajectory given equivalent corrective parts are calculated controller. Simulation results show effectiveness strategy.
منابع مشابه
A multivariable super-twisting sliding mode approach
This communique proposes a multivariable super-twisting sliding mode structure which represents an extension of the wellknown single input case. A Lyapunov approach is used to show finite time stability for the system in the presence of a class of uncertainty. This structure is used to create a sliding mode observer to detect and isolate faults for a satellite system.
متن کاملSliding Mode Control For Heartbeat Electrocardiogram Tracking Problem
In this paper, we have exploited the first-order sliding mode control method to track the ECG data of the human heart by three different nonlinear control laws. In order to lessen the intrinsic chattering of the classic sliding mode control system, smooth function approximations of the control input, by means of the hyperbolic tangent and the saturation function, were used. The fast Fourier tra...
متن کاملSliding-mode Velocity and Yaw Control of a 4WD Skid-steering Mobile Robot
The subject of this paper is the design and implementation of a robust dynamic feedback controller, based on the dynamic model of the four-wheel skidsteering RobuFAST A robot, undergoing high-speed turns. The control inputs are respectively the linear velocity and the yaw angle. The main objective of this paper is to formulate a sliding mode controller, robust enough to obviate the knowledge of...
متن کاملSuper-Twisting Differentiator-Based High Order Sliding Mode Voltage Control Design for DC-DC Buck Converters
Yigeng Huangfu 1, Shengrong Zhuo 1,*, Akshay Kumar Rathore 2, Elena Breaz 3,4, Babak Nahid-Mobarakeh 5 and Fei Gao 3 1 School of Automation, Northwestern Polytechnical University, Xi’an 710072, China; [email protected] 2 Department of Electrical and Computer Engineering, Concordia University, Montreal, QC H3G 1M8, Canada; [email protected] 3 Research Institute of Transport, Energy and...
متن کاملDesign and analysis of adaptive Super-Twisting sliding mode control for a microgyroscope
This paper proposes a novel adaptive Super-Twisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances. In order to improve the convergence rate of reaching the sliding surface and the accuracy of regulating and trajectory tracking, a high order Super-Twisting sliding mode control strategy is employed, which not only can combine the advantages ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Electronics
سال: 2022
ISSN: ['2079-9292']
DOI: https://doi.org/10.3390/electronics11091330