By Topic

Backstepping vehicle steering controller using integral and robust control based on dynamic state estimation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Ming Xin ; Department of Mechanical Engineering, University of Utah, Salt Lake City, 84112 USA ; Mark Minor

One of the concerns in vehicle steering controls regards how to manipulate a vehicle to follow a designated path accurately. Generally, this issue is usually solved by linear or nonlinear control techniques based exclusively on vehicle kinematics or on a solution that partially combines dynamics. In this paper, an integral robust multi-tiered model-based vehicle steering control strategy is proposed in order to consider both kinematics and dynamics simultaneously. In this strategy, the kinematic controller provides yaw rate commands to converge the vehicle to a designated path by tuning an embedded sliding surface based on vehicle capability. To minimize steady-state errors caused by path curvature discontinuity, integral control is also applied. A robust dynamic controller is designed to reject modeling errors and disturbances caused by side slip angle from robust observer estimations. Steering rate is implemented to consider steering actuator capabilities and to smooth steering commands. Simulations and experiments validate control performance with a full-size passenger vehicle.

Published in:

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

7-12 Oct. 2012