Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control | |
Li TC(李逃昌); Hu JT(胡静涛) | |
刊名 | MATHEMATICAL PROBLEMS IN ENGINEERING |
2014 | |
卷号 | 2014页码:1-10 |
关键词 | Off-road Vehicles Systems |
ISSN号 | 1024-123X |
产权排序 | 1 |
英文摘要 | Automatic steering control is the key factor and essential condition in the realization of the automatic navigation control of agricultural vehicles. In order to get satisfactory steering control performance, an adaptive sliding mode control method based on a nonlinear integral sliding surface is proposed in this paper for agricultural vehicle steering control. First, the vehicle steering system is modeled as a second-order mathematic model; the system uncertainties and unmodeled dynamics as well as the external disturbances are regarded as the equivalent disturbances satisfying a certain boundary. Second, a transient process of the desired system response is constructed in each navigation control period. Based on the transient process, a nonlinear integral sliding surface is designed. Then the corresponding sliding mode control law is proposed to guarantee the fast response characteristics with no overshoot in the closed-loop steering control system. Meanwhile, the switching gain of sliding mode control is adaptively adjusted to alleviate the control input chattering by using the fuzzy control method. Finally, the effectiveness and the superiority of the proposed method are verified by a series of simulation and actual steering control experiments. |
WOS关键词 | OFF-ROAD VEHICLES ; SYSTEMS |
WOS研究方向 | Engineering ; Mathematics |
语种 | 英语 |
WOS记录号 | WOS:000334249900001 |
资助机构 | National Hi-tech Research and Development Program of China [2013AA040403] |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/14773] |
专题 | 沈阳自动化研究所_信息服务与智能控制技术研究室 |
通讯作者 | Li TC(李逃昌) |
作者单位 | 1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China |
推荐引用方式 GB/T 7714 | Li TC,Hu JT. Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control[J]. MATHEMATICAL PROBLEMS IN ENGINEERING,2014,2014:1-10. |
APA | Li TC,&Hu JT.(2014).Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control.MATHEMATICAL PROBLEMS IN ENGINEERING,2014,1-10. |
MLA | Li TC,et al."Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control".MATHEMATICAL PROBLEMS IN ENGINEERING 2014(2014):1-10. |
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