Robust Active Post-Impact Motion Control for Restraining a Second Crash

被引：0

作者：

Ao, Di ^{[1
]}

Hua, Xingqi ^{[4
]}

Yu, Guokuan ^{[4
]}

Guo, Daqiang ^{[3
]}

Jia, Zhenzhong ^{[2
]}

机构：

[1] Southern Univ Sci & Technol SUSTech, CO-518000 Shenzhen, Peoples R China

[2] Southern Univ Sci & Technol, CO-518000 Shenzhen, Peoples R China

[3] Univ Hong Kong, CO-999077 Hong Kong, Peoples R China

[4] Univ Macau, CO-999078 Macau, Peoples R China

来源：

2020 IEEE 16TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE) | 2020年

关键词：

D O I：

10.1109/case48305.2020.9216882

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Many studies indicate that multi-event accidents have higher risks and injuries than a single accident. Larger heading angle and lateral deviation could be produced by impulsive impacts, which result in severe accidents. Active safety technology can be applied for controlling the motion after impact. In this paper, a sub-optimal second-order sliding mode (SSOSM) controller based on a three degree of freedom vehicle model is designed to mitigate the undesired motion after a fictitious impact. The controller is verified through high fidelity co-simulation platform Carsim and MATLAB/Simulink. The simulation results show that the SSOSM controller gives better control performance for tracking the desired heading angle and lateral deviation from the path. The chattering phenomenon of sliding mode is decreased and smooth results are given.

引用

页码：159 / 164

页数：6

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