Analysis and design of automatic steering sliding mode control

Zhao Xijun; Zhang Wei; Liu Haiou; Chen Huiyan

doi:10.4028/www.scientific.net/AMR.179-180.762

Analysis and design of automatic steering sliding mode control

Zhao Xijun^*, Zhang Wei, Liu Haiou, Chen Huiyan

^*Corresponding author for this work

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A kind of intelligent vehicle-road model based on look-ahead reference system is established. According to the state equation, a novel sliding mode variable structure control algorithm is proposed. The sliding function is defined using pole placement technology, while the trending motion is determined by exponential reaching law. Accordingly, the effect of poles and reaching law parameters to close loop control system is analyzed in depth in order to design a good performance automatic control system. Finally, the developed sliding mode controller is validated by simulation study. Simulation results show that the designed controller has good performance in road tracking scenario.

Original language	English
Title of host publication	Materials Science and Engineering
Pages	762-767
Number of pages	6
DOIs	https://doi.org/10.4028/www.scientific.net/AMR.179-180.762
Publication status	Published - 2011
Event	2010 International Conference on Materials Science and Engineering Science, ICMSES 2010 - Shenzhen, China Duration: 11 Dec 2010 → 12 Dec 2010

Publication series

Name	Advanced Materials Research
Volume	179-180
ISSN (Print)	1022-6680

Conference

Conference	2010 International Conference on Materials Science and Engineering Science, ICMSES 2010
Country/Territory	China
City	Shenzhen
Period	11/12/10 → 12/12/10

Keywords

Automatic steering
Pole placement
Reaching law
Sliding mode control

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10.4028/www.scientific.net/AMR.179-180.762

Cite this

@inproceedings{6b557ebdcee642c99cdca2f8f5d9e4df,

title = "Analysis and design of automatic steering sliding mode control",

abstract = "A kind of intelligent vehicle-road model based on look-ahead reference system is established. According to the state equation, a novel sliding mode variable structure control algorithm is proposed. The sliding function is defined using pole placement technology, while the trending motion is determined by exponential reaching law. Accordingly, the effect of poles and reaching law parameters to close loop control system is analyzed in depth in order to design a good performance automatic control system. Finally, the developed sliding mode controller is validated by simulation study. Simulation results show that the designed controller has good performance in road tracking scenario.",

keywords = "Automatic steering, Pole placement, Reaching law, Sliding mode control",

author = "Zhao Xijun and Zhang Wei and Liu Haiou and Chen Huiyan",

year = "2011",

doi = "10.4028/www.scientific.net/AMR.179-180.762",

language = "English",

isbn = "9783037850169",

series = "Advanced Materials Research",

pages = "762--767",

booktitle = "Materials Science and Engineering",

note = "2010 International Conference on Materials Science and Engineering Science, ICMSES 2010 ; Conference date: 11-12-2010 Through 12-12-2010",

}

Xijun, Z, Wei, Z, Haiou, L & Huiyan, C 2011, Analysis and design of automatic steering sliding mode control. in Materials Science and Engineering. Advanced Materials Research, vol. 179-180, pp. 762-767, 2010 International Conference on Materials Science and Engineering Science, ICMSES 2010, Shenzhen, China, 11/12/10. https://doi.org/10.4028/www.scientific.net/AMR.179-180.762

TY - GEN

T1 - Analysis and design of automatic steering sliding mode control

AU - Xijun, Zhao

AU - Wei, Zhang

AU - Haiou, Liu

AU - Huiyan, Chen

PY - 2011

Y1 - 2011

N2 - A kind of intelligent vehicle-road model based on look-ahead reference system is established. According to the state equation, a novel sliding mode variable structure control algorithm is proposed. The sliding function is defined using pole placement technology, while the trending motion is determined by exponential reaching law. Accordingly, the effect of poles and reaching law parameters to close loop control system is analyzed in depth in order to design a good performance automatic control system. Finally, the developed sliding mode controller is validated by simulation study. Simulation results show that the designed controller has good performance in road tracking scenario.

AB - A kind of intelligent vehicle-road model based on look-ahead reference system is established. According to the state equation, a novel sliding mode variable structure control algorithm is proposed. The sliding function is defined using pole placement technology, while the trending motion is determined by exponential reaching law. Accordingly, the effect of poles and reaching law parameters to close loop control system is analyzed in depth in order to design a good performance automatic control system. Finally, the developed sliding mode controller is validated by simulation study. Simulation results show that the designed controller has good performance in road tracking scenario.

KW - Automatic steering

KW - Pole placement

KW - Reaching law

KW - Sliding mode control

UR - http://www.scopus.com/inward/record.url?scp=79751481370&partnerID=8YFLogxK

U2 - 10.4028/www.scientific.net/AMR.179-180.762

DO - 10.4028/www.scientific.net/AMR.179-180.762

M3 - Conference contribution

AN - SCOPUS:79751481370

SN - 9783037850169

T3 - Advanced Materials Research

SP - 762

EP - 767

BT - Materials Science and Engineering

T2 - 2010 International Conference on Materials Science and Engineering Science, ICMSES 2010

Y2 - 11 December 2010 through 12 December 2010

ER -

Analysis and design of automatic steering sliding mode control

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