Journal article
Design and implementation of adaptive terminal sliding-mode control on a steer-by-wire equipped road vehicle
IEEE Transactions on Industrial Electronics, Vol.63(9), pp.5774-5785
2016
Abstract
This paper proposes a novel adaptive terminal sliding-mode (ATSM) control scheme for a Steer-by-Wire (SBW) vehicle. It is shown that the developed ATSM controller can drive the closed-loop error dynamics to converge to zero in a finite time, where adaptive laws are applied to estimate the uncertain bounds of the system parameters and disturbances in Lyapunov sense. Compared with the sliding-mode-based SBW control systems, the proposed ATSM control not only assures the finite-time error convergence and strong robustness with respect to parameter uncertainties and varying driving conditions, but also requires no prior knowledge of the system parameters and road information. Experimental results from an SBW vehicle are demonstrated to verify the remarkable performance of the proposed control in terms of the robustness, error convergence, and road disturbance attenuation, in comparison with other control strategies.
Details
- Title
- Design and implementation of adaptive terminal sliding-mode control on a steer-by-wire equipped road vehicle
- Authors/Creators
- H. Wang (Author/Creator)Z. Man (Author/Creator)H. Kong (Author/Creator)Y. Zhao (Author/Creator)M. Yu (Author/Creator)Z. Cao (Author/Creator)J. Zheng (Author/Creator)M.T. Do (Author/Creator)
- Publication Details
- IEEE Transactions on Industrial Electronics, Vol.63(9), pp.5774-5785
- Publisher
- IEEE
- Identifiers
- 991005544884707891
- Copyright
- © 2016 IEEE
- Murdoch Affiliation
- Murdoch University
- Language
- English
- Resource Type
- Journal article
UN Sustainable Development Goals (SDGs)
This output has contributed to the advancement of the following goals:
Source: InCites
Metrics
27 Record Views
InCites Highlights
These are selected metrics from InCites Benchmarking & Analytics tool, related to this output
- Collaboration types
- Domestic collaboration
- International collaboration
- Citation topics
- 4 Electrical Engineering, Electronics & Computer Science
- 4.29 Automation & Control Systems
- 4.29.104 Adaptive Control
- Web Of Science research areas
- Automation & Control Systems
- Engineering, Electrical & Electronic
- Instruments & Instrumentation
- ESI research areas
- Engineering