Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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in: Electronics (Switzerland), Jahrgang 11, Nr. 9, 1330, 01.05.2022.
Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet
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TY - JOUR
T1 - Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion
AU - Kruse, Oliver
AU - Mukhamejanova, Aidana
AU - Mercorelli, Paolo
N1 - This article belongs to the Special Issue Path Planning for Mobile Robots.
PY - 2022/5/1
Y1 - 2022/5/1
N2 - This paper deals with the modelling and control of differential steering for vehicular motions with the help of Sliding Mode Control (SMC) with a Super-Twisting Algorithm (STA). A single-track mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the STA is proposed for the yaw dynamics to improve travel comfort and the stability of the vehicular motion. The desired yaw trajectory is given and the equivalent and corrective control parts of the STA are calculated by the controller. Simulation results show the effectiveness of the proposed control strategy.
AB - This paper deals with the modelling and control of differential steering for vehicular motions with the help of Sliding Mode Control (SMC) with a Super-Twisting Algorithm (STA). A single-track mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the STA is proposed for the yaw dynamics to improve travel comfort and the stability of the vehicular motion. The desired yaw trajectory is given and the equivalent and corrective control parts of the STA are calculated by the controller. Simulation results show the effectiveness of the proposed control strategy.
KW - Lyapunov stability
KW - mobile system control
KW - modelling in mobile systems
KW - simulations
KW - super-twisting sliding mode control
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85128568388&partnerID=8YFLogxK
U2 - 10.3390/electronics11091330
DO - 10.3390/electronics11091330
M3 - Journal articles
AN - SCOPUS:85128568388
VL - 11
JO - Electronics (Switzerland)
JF - Electronics (Switzerland)
SN - 2079-9292
IS - 9
M1 - 1330
ER -