Terminal sliding mode control for steer-by-wire system in electric vehicles
Wang, H.ORCID: 0000-0003-2789-9530, Man, Z., Kong, H. and Shen, W.
(2012)
Terminal sliding mode control for steer-by-wire system in electric vehicles.
In: 2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA), 18 - 20 July 2012, Singapore, Singapore
pp. 919-924.
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Abstract
In this paper, the mathematical modelling of a front-wheel steer-by-wire (SBW) system is studied and a terminal sliding mode control scheme for the SBW system with uncertain dynamics is developed. It is shown that a front-wheel SBW system, from the hand-wheel to the steered front wheels, is equivalent to a second-order system. A terminal sliding mode controller can then be designed based on the information of the bounds of uncertain system dynamics, in the sense that not only a strong robustness with respect to system uncertainties and nonlinearities can be obtained, but also the front wheel steering angle can converge to the hand-wheel reference angle in a finite time. A simulation example is presented to verify the proposed control scheme.
Item Type: | Conference Paper |
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Publisher: | IEEE |
Copyright: | © 2011 IEEE |
URI: | http://researchrepository.murdoch.edu.au/id/eprint/53420 |
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