4WS Vehicles Lateral Control Via a Modified Exponent Reaching Law

摘要：

Lateral control for Four-Wheel-Steering (4WS) vehicles on Automated Highway is investigated. Based on the previously studied look-down reference system with front and rear sensors, lateral dynamics model of 4WS vehicle is analyzed and model parameters uncertainties and external disturbance are considered. A sliding mode controller is designed based on a modified exponent reaching law, which integrates some states into the switch term to eliminate the chattering, and then the controller is applied to the lateral control for a 4WS vehicle. Simulations are conducted to evaluate the performance achieved by the proposed controller under different velocities and road adhesion factors, and effectiveness of the proposed approach is verified by the results.

关键词： 4WS vehicle lateral control sliding mode control modified exponent reaching law

作者: Wang Wanjun Zhang Weigong

作者单位: School of Instrument Science and Engineering Southeast University Nanjing P.R.China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 203-206

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）