Direct Adaptive Terminal Sliding Mode Control for Lane Changing of Vehicle in Intelligent Transportation Systems
Journal Title: IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE) - Year 2018, Vol 15, Issue 4
Abstract
In the presence of parametric uncertainty, such as the mass, inertia of vehicle about vertical axis, and tire cornering stiffness, the adaptive control method for lane changing of vehicle in intelligent transportation systems was studied. With positive and negative trapezoidal constraint for lateral acceleration, the desired yaw angle and yaw rate of vehicle was generated by the virtual lane changing trajectory. Based on the lateral dynamical model of four-wheel-steering vehicle, by applying terminal sliding mode technology, the yaw-rate tracking control law for lane changing was designed and the estimation formula for uncertain control parameters was deduced by using direct adaptive method. Based on the Lyapunov theory, the stability property of the system was obtained. By using the control law and adaptive law for uncertain parameter designed in this paper, expected control performance of asymptotic stability of tracking error and the convergence property of parameter estimation values was verified from the simulation.
Authors and Affiliations
Dianbo Ren, Yong Zhang, Hao Wang
Keywords
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- EP ID EP438485
- DOI 10.9790/1684-1504052633.
- Views 66
- Downloads 0
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