Active steering for vehicle system using sliding mode control
The objectives of this thesis are to present a modeling and control of a singletrack car model for active steering vehicle system. The sliding mode control strategy will be utilized to overcome various coefficients of road frictions and external disturbances on the system. In order to compensate...
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| Format: | Thesis |
| Language: | English |
| Published: |
2006
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| Online Access: | http://umpir.ump.edu.my/id/eprint/2185/ http://umpir.ump.edu.my/id/eprint/2185/1/NOR_MANIHA_BTE_ABD_GHANI.PDF |
| Summary: | The objectives of this thesis are to present a modeling and control of a singletrack
car model for active steering vehicle system. The sliding mode control strategy
will be utilized to overcome various coefficients of road frictions and external
disturbances on the system. In order to compensate the disturbances, side slip angles and
yaw rate of the vehicle will be observed. The model presented take into account different
friction of road coefficients of the system. From the mathematical derivation it is found
that the system has fulfilled a matching condition. Extensive computer simulations are
performed for various types of disturbances such as crosswind and braking torque. From
the simulation results the effect of disturbance attenuation will be observed. The
performance of the proposed controller will be compared to the linear quadratic
regulator and pole placement techniques. The results showed that the sliding mode
control scheme is effectively in attenuating various disturbances for different road
coefficients as compared to the LQR and pole placement control schemes. Furthermore,
the simulation results also showed that the system is insensitive to the external
disturbances and capable to overcome 'late action' by the driver due to sudden
disturbance on any road conditions. |
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