Sliding-mode controller for four-wheel-steering vehicle: Trajectory-tracking problem
Sliding-mode controller for four-wheel-steering vehicle: Trajectory-tracking problem
复制标题
DOI：
10.1109/wcica.2010.5554625
复制
发表时间：
2010-07
期刊：
影响因子：
--
通讯作者：
R. Șolea;A. Filipescu;S. Filipescu;B. Dumitrascu
中科院分区：
文献类型：
--
作者：
R. Șolea;A. Filipescu;S. Filipescu;B. Dumitrascu
提出了一种基于滑模变结构方法的四轮转向车辆轨迹跟踪控制方法。这种控制器优于现行控制方法的优点是，它适用于大类车辆的单或双转向和跟踪速度，不一定是恒定的。仿真结果表明，滑模方法使解决方案的误差和干扰的鲁棒性。
A solution to trajectory-tracking control problem for a four-wheel-steering vehicle (4WS) is proposed using sliding-mode approach. The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant. The sliding-mode approach make the solutions robust with respect to errors and disturbances, as demonstrated by the simulation results.