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
收藏
页码：1520 / 1524
页数：5
相关论文
共 50 条
  • [41] Lateral Stability Control of a Distributed Electric Vehicle Using a New Sliding Mode Controler
    Chen, Yawei
    Cheng, Qian
    Gan, Huafu
    Hao, Xixiang
    Yuan, Chenheng
    INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY, 2023, 24 (04) : 1089 - 1100
  • [42] Bottom-following control for an underactuated unmanned undersea vehicle using integral-terminal sliding mode control
    Zhe-ping Yan
    Hao-miao Yu
    Ben-yin Li
    Journal of Central South University, 2015, 22 : 4193 - 4204
  • [43] Bottom-following control for an underactuated unmanned undersea vehicle using integral-terminal sliding mode control
    Yan Zhe-Ping
    Yu Hao-Miao
    Li Ben-Yin
    JOURNAL OF CENTRAL SOUTH UNIVERSITY, 2015, 22 (11) : 4193 - 4204
  • [44] Bottom-following control for an underactuated unmanned undersea vehicle using integral-terminal sliding mode control
    严浙平
    于浩淼
    李本银
    JournalofCentralSouthUniversity, 2015, 22 (11) : 4193 - 4204
  • [45] Yaw Angle Tracking Control for a Quadrotor-like Autonomous Underwater Vehicle Using Global Fast Terminal Sliding Mode Control
    Kou, Liwei
    Xiang, Ji
    Li, Yanjun
    Bian, Jingwei
    2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER), 2018, : 827 - 832
  • [46] Sliding-Mode Control of Unmanned Underwater Vehicle Using Bio-Inspired Neurodynamics for Discrete Trajectories
    Deng, Zhigang
    Chu, Zhenzhong
    Tousif, Zaman Mohammed
    INTELLIGENT AUTOMATION AND SOFT COMPUTING, 2020, 26 (06): : 1503 - 1515
  • [47] Performing trajectory tracking control of an unmanned ground vehicle using fractional order terminal sliding mode controller
    Sekban, Hayriye Tugba
    Basci, Abdullah
    INTERNATIONAL JOURNAL OF SUSTAINABLE AVIATION, 2023, 9 (01) : 73 - 88
  • [48] A vehicle ABS adaptive sliding-mode control algorithm based on the vehicle velocity estimation and tyre/road friction coefficient estimations
    Zhang, Xiangwen
    Xu, Yong
    Pan, Ming
    Ren, Fenghua
    VEHICLE SYSTEM DYNAMICS, 2014, 52 (04) : 475 - 503
  • [49] A direct yaw moment controller for a four in-wheel motor drive electric vehicle using adaptive sliding mode control
    Asiabar, Aria Noori
    Kazemi, Reza
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS, 2019, 233 (03) : 549 - 567
  • [50] DESIGN OF A ROBUST YAW RATE CONTROLLER USING SLIDING MODE CONTROL AND EXTENDED STATE OBSERVER FOR NAVIGATION OF AN AUTONOMOUS GROUND VEHICLE
    Borate, Suraj Shamrao
    Sahoo, Shubhashisa
    Baby, Devika K.
    Subramanian, Shankar C.
    Mangrulkar, Kiran K.
    PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2018, VOL 4A, 2019,
12345