A Sliding Mode Controlled Tilting Three Wheeled Narrow Vehicle
نویسندگان
چکیده
This paper reports a sliding mode controlled three wheeled narrow vehicle for two passengers. The whole system is a two-input two-output, eighteen order dynamical system. In a first and simple design, a set of parameters that achieve an acceptable system performance under perturbations have been selected. Results were validated by simulation. Keywords— Sliding Mode Control, Tilting Vehicle. Resumo— Este trabalho apresenta o controle de um véıculo estreito de três rodas para dois passageiros usando controle por modos deslizantes. O sistema dinâmico é de ordem dezoito e possui duas entradas e duas sáıdas. Em um projeto preliminar e simples, obteve-se um conjunto de parâmetros que permitem atingir um desempenho aceitável em presença de perturbações. Os resultados são validados por simulação. Palavras-chave— Controle por Modos Deslizantes, Véıculo Inclinável
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