Yaw Stability Control for 6WD Unmanned Vehicle on Split-mu Road Using Sliding Mode Algorithm

被引：0

作者：

Shu, Kang ^{[1
]}

Liu, Biao ^{[2
]}

Huang, Jiangshuai ^{[1
]}

Gao, Tingting ^{[3
]}

机构：

[1] Chongqing Univ, Sch Automat, Chongqing 400044, Peoples R China

[2] Guangzhou Gosuncn Robot Co Ltd, Guangzhou 510663, Guangdong, Peoples R China

[3] Zhejiang Text Fash Coll, Sch Mech & Elect Engn, Ningbo 315211, Zhejiang, Peoples R China

来源：

PROCEEDINGS OF THE 2021 IEEE 16TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2021) | 2021年

关键词：

Sliding mode control; Six-wheels vehicle; Tracking control; ELECTRIC VEHICLES; MOMENT CONTROL;

D O I：

10.1109/ICIEA51954.2021.9516147

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The control of unmanned vehicle systems are involved with uncertain road condition, uncertain load quality as well as unstable motor control system. In this paper, a sliding-mode control strategy for the torque control of six-wheels vehicles are proposed to maintain a fixed velocity and meanwhile track a straight-line. Low-level controllers and high-level controllers are designed and conducted under six-wheel driving mode. The experimental results validate the effectiveness of our proposed control scheme.

引用

页码：1520 / 1524

页数：5

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