Chained form and sliding mode control of farm vehicles in presence of sliding

Hao Fang; Ruixia Fan

doi:10.1109/CHICC.2008.4604978

Chained form and sliding mode control of farm vehicles in presence of sliding

Hao Fang^*, Ruixia Fan

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

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

1 Citation (Scopus)

Abstract

The problem of lateral control of autonomous farm vehicles in presence of sliding is addressed in this paper. First a kinematic model is built in which sliding effects are integrated in form of additive disturbances to the ideal kinematic model. To make vehicles robust to those sliding effects, a sliding mode controller is designed by transforming the kinematic model into a perturbed chained system. With the help of natural algebraic structures of chained systems, the stability of the proposed lateral sliding mode controller is proven which guarantees convergence of lateral deviations and bounded orientation errors. Simulation and experimental results show that the proposed control law can provide high path-following accuracy even in presence of sliding.

Original language	English
Title of host publication	Proceedings of the 27th Chinese Control Conference, CCC
Pages	124-129
Number of pages	6
DOIs	https://doi.org/10.1109/CHICC.2008.4604978
Publication status	Published - 2008
Event	27th Chinese Control Conference, CCC - Kunming, Yunnan, China Duration: 16 Jul 2008 → 18 Jul 2008

Publication series

Name	Proceedings of the 27th Chinese Control Conference, CCC

Conference

Conference	27th Chinese Control Conference, CCC
Country/Territory	China
City	Kunming, Yunnan
Period	16/07/08 → 18/07/08

Keywords

Chained system theory
Lateral control
Sliding mode control

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10.1109/CHICC.2008.4604978

Cite this

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title = "Chained form and sliding mode control of farm vehicles in presence of sliding",

abstract = "The problem of lateral control of autonomous farm vehicles in presence of sliding is addressed in this paper. First a kinematic model is built in which sliding effects are integrated in form of additive disturbances to the ideal kinematic model. To make vehicles robust to those sliding effects, a sliding mode controller is designed by transforming the kinematic model into a perturbed chained system. With the help of natural algebraic structures of chained systems, the stability of the proposed lateral sliding mode controller is proven which guarantees convergence of lateral deviations and bounded orientation errors. Simulation and experimental results show that the proposed control law can provide high path-following accuracy even in presence of sliding.",

keywords = "Chained system theory, Lateral control, Sliding mode control",

author = "Hao Fang and Ruixia Fan",

year = "2008",

doi = "10.1109/CHICC.2008.4604978",

language = "English",

isbn = "9787900719706",

series = "Proceedings of the 27th Chinese Control Conference, CCC",

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AU - Fang, Hao

AU - Fan, Ruixia

PY - 2008

Y1 - 2008

N2 - The problem of lateral control of autonomous farm vehicles in presence of sliding is addressed in this paper. First a kinematic model is built in which sliding effects are integrated in form of additive disturbances to the ideal kinematic model. To make vehicles robust to those sliding effects, a sliding mode controller is designed by transforming the kinematic model into a perturbed chained system. With the help of natural algebraic structures of chained systems, the stability of the proposed lateral sliding mode controller is proven which guarantees convergence of lateral deviations and bounded orientation errors. Simulation and experimental results show that the proposed control law can provide high path-following accuracy even in presence of sliding.

AB - The problem of lateral control of autonomous farm vehicles in presence of sliding is addressed in this paper. First a kinematic model is built in which sliding effects are integrated in form of additive disturbances to the ideal kinematic model. To make vehicles robust to those sliding effects, a sliding mode controller is designed by transforming the kinematic model into a perturbed chained system. With the help of natural algebraic structures of chained systems, the stability of the proposed lateral sliding mode controller is proven which guarantees convergence of lateral deviations and bounded orientation errors. Simulation and experimental results show that the proposed control law can provide high path-following accuracy even in presence of sliding.

KW - Chained system theory

KW - Lateral control

KW - Sliding mode control

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U2 - 10.1109/CHICC.2008.4604978

DO - 10.1109/CHICC.2008.4604978

M3 - Conference contribution

AN - SCOPUS:52449083393

SN - 9787900719706

T3 - Proceedings of the 27th Chinese Control Conference, CCC

SP - 124

EP - 129

BT - Proceedings of the 27th Chinese Control Conference, CCC

T2 - 27th Chinese Control Conference, CCC

Y2 - 16 July 2008 through 18 July 2008

ER -

Chained form and sliding mode control of farm vehicles in presence of sliding

Abstract

Publication series

Conference

Keywords

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