Sliding Mode Control of Lateral Motion for Four Driving-Steering Wheels Autonomous Vehicle
نویسندگان
چکیده
The sliding-mode controller (SMC) for the lateral motion control problem of Four Driving-Steering Wheels (4DW/SW) vehicle is presented in this paper. The lane centerline tracking is the main control performance. The dynamic model of the vehicle has been taken into account. Closed-loop robustness to uncertainties is achieved. The lane centerline tracking is achieved using look-ahead techniques. Closed-loop simulation and real time results with 4DW/SW SEEKUR robot base show the efficiency of sliding-mode control. Compared to 2DW and one or two SW mobile robots control, the 4DW/SW sliding-mode control is more stable with smaller lateral error.
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