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Lateral motion control of four-wheels steering vehicle using a sliding-mode controller

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3 Author(s)
Solea, R. ; Control Syst. & Ind. Inf. Dept., Dunarea de Jos Univ. of Galati, Galati, Romania ; Filipescu, A. ; Cernega, D.

In this paper a lateral motion control using a sliding-mode controller (SMC) for four-wheels driving and steering (4WDS) vehicle is presented. The lane centerline following by look-ahead techniques is main control performance. The dynamic model of a linear 2 DOF bicycle mode has been taken into account. The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering. The effectiveness of the proposed sliding-mode controller is demonstrated by closed-loop simulation results for 4WDS Seekur robot base.

Published in:

Control Conference (CCC), 2010 29th Chinese

Date of Conference:

29-31 July 2010