Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control

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	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
页码	1-10
关键词	OFF-ROAD VEHICLES SYSTEMS
ISSN号	1024-123X
通讯作者	李逃昌
产权排序	1
中文摘要	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标题词	Science & Technology ; Technology ; Physical Sciences
类目[WOS]	Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
研究领域[WOS]	Engineering ; Mathematics
关键词[WOS]	OFF-ROAD VEHICLES ; SYSTEMS
收录类别	SCI ; EI
资助信息	National Hi-tech Research and Development Program of China [2013AA040403]
语种	英语
WOS记录号	WOS:000334249900001
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
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,2014:1-10.
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,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):1-10.