HOSM Controller Using PI Sliding Manifold for an Integrated Active Control for Wheeled Vehicles | Zendy

Antonio Guzmán | Zendy; Claudia Carolina Vaca García | Zendy; S. Di Gennaro | Zendy; Cuauhtémoc Acosta Lúa | Zendy

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HOSM Controller Using PI Sliding Manifold for an Integrated Active Control for Wheeled Vehicles

Author(s) -

Antonio Guzmán,

Claudia Carolina Vaca García,

S. Di Gennaro,

Cuauhtémoc Acosta Lúa

Publication year - 2021

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2021/5482421

Subject(s) - control theory (sociology) , carsim , controller (irrigation) , pid controller , yaw , trajectory , lyapunov function , stability (learning theory) , lyapunov stability , sliding mode control , engineering , control engineering , computer science , control (management) , vehicle dynamics , physics , artificial intelligence , aerospace engineering , nonlinear system , temperature control , agronomy , astronomy , quantum mechanics , machine learning , biology

This study considers the design of a modified high-order sliding mode (HOSM) controller using a PI sliding surface to the attitude control of a ground vehicle. A robust-modified HOSM controller is derived, so that the lateral velocity and yaw rate tracks the desired trajectory despite the environment actions acting on the ground vehicle and parameter variations. The stability is guaranteed with Lyapunov’s stability theorem function. The performance of the dynamic controllers is evaluated using the CarSim simulator considering a challenging double steer maneuver.

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