TY - GEN
T1 - Design of sliding mode controller on steering control of skid steering 6×6 unmanned vehicle
AU - Ma, Yue
AU - Li, Yi
AU - Liang, Hongjie
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - In this paper, a sliding mode controller is proposed for an electrical unmanned vehicle with skid steering mechanism by generating a direct yawing moment, aiming at improving the steering stability of vehicle. Based on Newton's second law, a set of dynamics model of vehicle is established, and dynamical behavior of vehicle is analyzed, in which requirements on the direct yawing moment is revealed explicitly. Subsequently, a slide mode controller to adjust the yawing moment is designed and implemented in MATLAB/Simulink. By numerical simulation, side-slip angles and the lateral forces of the each wheel can be obtained. Simulation results demonstrate that the generated direct yawing moment meet the control requirements perfect and the response on the lateral velocity of the vehicle and yaw rate show the effectiveness of the approach above.
AB - In this paper, a sliding mode controller is proposed for an electrical unmanned vehicle with skid steering mechanism by generating a direct yawing moment, aiming at improving the steering stability of vehicle. Based on Newton's second law, a set of dynamics model of vehicle is established, and dynamical behavior of vehicle is analyzed, in which requirements on the direct yawing moment is revealed explicitly. Subsequently, a slide mode controller to adjust the yawing moment is designed and implemented in MATLAB/Simulink. By numerical simulation, side-slip angles and the lateral forces of the each wheel can be obtained. Simulation results demonstrate that the generated direct yawing moment meet the control requirements perfect and the response on the lateral velocity of the vehicle and yaw rate show the effectiveness of the approach above.
KW - Skid steering
KW - sliding mode control
KW - stability
UR - http://www.scopus.com/inward/record.url?scp=85050865872&partnerID=8YFLogxK
U2 - 10.1109/ICUS.2017.8278353
DO - 10.1109/ICUS.2017.8278353
M3 - Conference contribution
AN - SCOPUS:85050865872
T3 - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
SP - 272
EP - 276
BT - Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
A2 - Xu, Xin
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Unmanned Systems, ICUS 2017
Y2 - 27 October 2017 through 29 October 2017
ER -