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 -