Conference paper
Robust control for vehicle lane-keeping with sliding mode
2017 11th Asian Control Conference (ASCC), pp.84-89
IEEE
2017 11th Asian Control Conference (ASCC) (Gold Coast, QLD, Australia, 17/12/2017–20/12/2017)
2017
Abstract
In this paper, lateral vehicle dynamics is further studied, and a sliding mode (SM) control for vehicle lane-keeping system with system uncertain dynamics is developed. In order to achieve smooth vehicle lane-keeping performance, a specified motion trajectory of the vehicle is considered during the process of modelling lateral vehicle dynamics. An SM controller can then be developed based on the bound information of system uncertainties. With the proposed SM controller, lateral offset will asymptotically converge to zero first in a smooth manner. Then vehicle head direction will asymptotically converge to the tangent of the road curve with the equivalent control input signal. Simulation results demonstrate the excellent vehicle lane-keeping performance with the proposed SM control.
Details
- Title
- Robust control for vehicle lane-keeping with sliding mode
- Authors/Creators
- H. Du (Author/Creator) - Swinburne University of TechnologyZ. Man (Author/Creator) - Swinburne University of TechnologyJ. Zheng (Author/Creator) - Swinburne University of TechnologyA. Cricenti (Author/Creator) - Swinburne University of TechnologyY. Zhao (Author/Creator) - Lishui CA Steer-by-Wire Technological Co. Ltd, zhejiang, 323000, ChinaZ. Xu (Author/Creator) - Lishui CA Steer-by-Wire Technological Co. Ltd, zhejiang, 323000, ChinaH. Wang (Author/Creator) - Hefei University of Technology
- Publication Details
- 2017 11th Asian Control Conference (ASCC), pp.84-89
- Conference
- 2017 11th Asian Control Conference (ASCC) (Gold Coast, QLD, Australia, 17/12/2017–20/12/2017)
- Publisher
- IEEE
- Identifiers
- 991005543313907891
- Copyright
- © 2017 IEEE
- Murdoch Affiliation
- Murdoch University
- Language
- English
- Resource Type
- Conference paper
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