Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion

Oliver Kruse; Aidana Mukhamejanova; Paolo Mercorelli

doi:10.3390/electronics11091330

Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion

Oliver Kruse
, Aidana Mukhamejanova
, Paolo Mercorelli^*

^*Korrespondierende/r Autor/-in für diese Arbeit

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › Begutachtung

27 Zitate (Scopus)

Abstract

This paper deals with the modelling and control of differential steering for vehicular motions with the help of Sliding Mode Control (SMC) with a Super-Twisting Algorithm (STA). A single-track mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the STA is proposed for the yaw dynamics to improve travel comfort and the stability of the vehicular motion. The desired yaw trajectory is given and the equivalent and corrective control parts of the STA are calculated by the controller. Simulation results show the effectiveness of the proposed control strategy.

Originalsprache	Englisch
Aufsatznummer	1330
Zeitschrift	Electronics (Switzerland)
Jahrgang	11
Ausgabenummer	9
Seitenumfang	24
ISSN	2079-9292
DOIs	https://doi.org/10.3390/electronics11091330
Publikationsstatus	Erschienen - 01.05.2022

Fachgebiete und Schlagwörter

Ingenieurwissenschaften

ASJC Scopus Sachgebiete

Computernetzwerke und -kommunikation
Hardware und Architektur
Signalverarbeitung
Elektrotechnik und Elektronik
Steuerungs- und Systemtechnik

Zugriff auf Dokument

10.3390/electronics11091330Lizenz: CC BY

DownloadEndgültige, publizierte Fassung, 1,78 MBLizenz: CC BY

Dieses zitieren

@article{06797bce8e814c248ff12759182901a4,

title = "Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion",

abstract = "This paper deals with the modelling and control of differential steering for vehicular motions with the help of Sliding Mode Control (SMC) with a Super-Twisting Algorithm (STA). A single-track mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the STA is proposed for the yaw dynamics to improve travel comfort and the stability of the vehicular motion. The desired yaw trajectory is given and the equivalent and corrective control parts of the STA are calculated by the controller. Simulation results show the effectiveness of the proposed control strategy.",

keywords = "Lyapunov stability, mobile system control, modelling in mobile systems, simulations, super-twisting sliding mode control, Engineering",

author = "Oliver Kruse and Aidana Mukhamejanova and Paolo Mercorelli",

note = "This article belongs to the Special Issue Path Planning for Mobile Robots.",

year = "2022",

month = may,

day = "1",

doi = "10.3390/electronics11091330",

language = "English",

volume = "11",

journal = "Electronics (Switzerland)",

issn = "2079-9292",

publisher = "MDPI AG",

number = "9",

}

TY - JOUR

T1 - Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion

AU - Kruse, Oliver

AU - Mukhamejanova, Aidana

AU - Mercorelli, Paolo

N1 - This article belongs to the Special Issue Path Planning for Mobile Robots.

PY - 2022/5/1

Y1 - 2022/5/1

N2 - This paper deals with the modelling and control of differential steering for vehicular motions with the help of Sliding Mode Control (SMC) with a Super-Twisting Algorithm (STA). A single-track mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the STA is proposed for the yaw dynamics to improve travel comfort and the stability of the vehicular motion. The desired yaw trajectory is given and the equivalent and corrective control parts of the STA are calculated by the controller. Simulation results show the effectiveness of the proposed control strategy.

AB - This paper deals with the modelling and control of differential steering for vehicular motions with the help of Sliding Mode Control (SMC) with a Super-Twisting Algorithm (STA). A single-track mechanical model of the vehicular dynamics is proposed and validated by simulations. A control strategy based on the STA is proposed for the yaw dynamics to improve travel comfort and the stability of the vehicular motion. The desired yaw trajectory is given and the equivalent and corrective control parts of the STA are calculated by the controller. Simulation results show the effectiveness of the proposed control strategy.

KW - Lyapunov stability

KW - mobile system control

KW - modelling in mobile systems

KW - simulations

KW - super-twisting sliding mode control

KW - Engineering

UR - https://www.scopus.com/pages/publications/85128568388

U2 - 10.3390/electronics11091330

DO - 10.3390/electronics11091330

M3 - Journal articles

AN - SCOPUS:85128568388

SN - 2079-9292

VL - 11

JO - Electronics (Switzerland)

JF - Electronics (Switzerland)

IS - 9

M1 - 1330

ER -

Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion

Abstract

Fachgebiete und Schlagwörter

ASJC Scopus Sachgebiete

Zugriff auf Dokument

Fingerprint

Dieses zitieren