On robust bounded control of the combined wheel slip with integral compensation for an autonomous 4WS4WD vehicle

This paper presents a robust bounded controller that prevents an autonomous 4WS4WD vehicle from wheel skidding in presence of uncertainties of both tire/road condition and aerodynamic drag. For eliminating the steady-state error of path tracking, this control scheme incorporates integral compensatio...

Full description

Saved in:
Bibliographic Details
Published inVehicle system dynamics Vol. 45; no. 5; pp. 477 - 503
Main Authors Peng, Shou-Tao, Chang, Chau-Chin, Sheu, Jer-Jia
Format Journal Article Conference Proceeding
LanguageEnglish
Published Colchester Taylor & Francis 01.05.2007
Subjects
Applied sciences
Autonomous control
Bounded control
Combined wheel slip
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Machine components
Mechanical engineering. Machine design
Robotics
Singular perturbation theory
Springs and dampers
Autonomous system
Moving robot
Side slip
Singular perturbation
Vehicle dynamics
Frequency control
Perturbation method
Four wheel steering
Uncertain system
Tracking error
Combined wheel slip
Sliding friction
Bounded control
Aerodynamic drag
Pavement
Tracking task
Steady state
Robust control
Tyre
Autonomous control
Singular perturbation theory
Torque control
Four wheel drive
Integral control
Asymptotic approximation
High frequency
Online AccessGet full text

Cover

More Information
Summary:This paper presents a robust bounded controller that prevents an autonomous 4WS4WD vehicle from wheel skidding in presence of uncertainties of both tire/road condition and aerodynamic drag. For eliminating the steady-state error of path tracking, this control scheme incorporates integral compensation into a robust low-and high-gain technique, which in our earlier work has been introduced to achieve the anti-skidding. In comparison, this new proposed scheme ensures the path-tracking error can vanish asymptotically without incurring high-frequency chattering in the control signals. Simulation shows that, under the uncertainty effects, the proposed controller effectively limits the combined wheel slip and achieves the asymptotic path tracking. Moreover, the control inputs of wheel torque and wheel steering are coordinated well in response to this new control scheme.
Bibliography:SourceType-Scholarly Journals-2
ObjectType-Feature-2
ObjectType-Conference Paper-1
content type line 23
SourceType-Conference Papers & Proceedings-1
ObjectType-Article-3
ISSN:0042-3114
1744-5159
DOI:10.1080/00423110701316578