{"title":"滑模控制下的车辆偏航跟踪差速转向系统","authors":"O. Kruse, Aidana Mukhamejanova, Paolo Mercorelli","doi":"10.1109/ICCC54292.2022.9805966","DOIUrl":null,"url":null,"abstract":"The paper deals with modeling and control of differential steering for vehicular motions with help of sliding mode control (SMC). A four-wheel mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the SMC is proposed for yaw dynamics to improve travel comfort and the stability of vehicular motion. The desired yaw trajectory is given, and the equivalent and corrective control parts of the SMC are dually calculated by the controller. Simulation results show the effectiveness of the proposed control strategy.","PeriodicalId":167963,"journal":{"name":"2022 23rd International Carpathian Control Conference (ICCC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Differential Steering System for Vehicular Yaw Tracking Motion with Help of Sliding Mode Control\",\"authors\":\"O. Kruse, Aidana Mukhamejanova, Paolo Mercorelli\",\"doi\":\"10.1109/ICCC54292.2022.9805966\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper deals with modeling and control of differential steering for vehicular motions with help of sliding mode control (SMC). A four-wheel mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the SMC is proposed for yaw dynamics to improve travel comfort and the stability of vehicular motion. The desired yaw trajectory is given, and the equivalent and corrective control parts of the SMC are dually calculated by the controller. Simulation results show the effectiveness of the proposed control strategy.\",\"PeriodicalId\":167963,\"journal\":{\"name\":\"2022 23rd International Carpathian Control Conference (ICCC)\",\"volume\":\"22 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-05-29\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 23rd International Carpathian Control Conference (ICCC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCC54292.2022.9805966\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 23rd International Carpathian Control Conference (ICCC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCC54292.2022.9805966","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Differential Steering System for Vehicular Yaw Tracking Motion with Help of Sliding Mode Control
The paper deals with modeling and control of differential steering for vehicular motions with help of sliding mode control (SMC). A four-wheel mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the SMC is proposed for yaw dynamics to improve travel comfort and the stability of vehicular motion. The desired yaw trajectory is given, and the equivalent and corrective control parts of the SMC are dually calculated by the controller. Simulation results show the effectiveness of the proposed control strategy.
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