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Sliding mode controller for automatic steering of vehicles

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3 Author(s)
Zhang, J.R. ; Univ. de Picardie Jules Verne, Amiens, France ; Xu, S.J. ; Rachid, A.

This paper studies a controller design for the path tracking of vehicles. The considered model has strong nonlinear and coupling properties, especially the coupled input variables. A sliding mode controller is proposed such that the coupling longitudinal and lateral velocities, lateral deviation, yaw angle and yaw rate converge to the prescript equilibrium position asymptotically. Simulation results show that the controller is effective

Published in:

Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE  (Volume:3 )

Date of Conference: