Adaptive sliding mode control in the presence of saturating tire forces

Authors
Kaminaga, M Hedrick, JK
Citation
M. Kaminaga et Jk. Hedrick, Adaptive sliding mode control in the presence of saturating tire forces, JSME C, 42(2), 1999, pp. 281-286
Citations number
6
Categorie Soggetti
Mechanical Engineering
Journal title
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING
ISSN journal
13447653 → ACNP
Volume
42
Issue
2
Year of publication
1999
Pages
281 - 286
Database
ISI
SICI code
1344-7653(199906)42:2<281:ASMCIT>2.0.ZU;2-W
Abstract
The Authors have developed a four wheel steering controller which can handl e nonlinear tire forces. A new technique, Intelligent Sliding Surface Contr ol, has been used to prevent control system instability induced by saturate d functions. In this paper, unknown tire-road contact conditions are discus sed. The robust performance of two types of controllers, a sliding mode con troller and an adaptive sliding mode controller, is compared using simulati on.