Sliding mode controller for automatic path tracking of vehicles

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Jan 2002Publisher:IEEEJournal:Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)

Authors: J. R. Zhang; S. J. Xu; A. Rachid;

doi: 10.1109/acc.2002.1024550

Sliding mode controller for automatic path tracking of vehicles

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Abstract

This paper studies the automatic path tracking control of vehicles. The nonlinear vehicle model with the coupled inputs is considered. A nonlinear transformation is used to deal with the system, while a sliding mode controller is proposed such that the tracking error converges to the prescript equilibrium position. An example with a small steering angle has been given.. The simulation results show that the controller is valid.

Related Organizations

Beihang University
China (People's Republic of)
University of Picardie Jules Verne
France

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