IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/5482421.html
   My bibliography  Save this article

HOSM Controller Using PI Sliding Manifold for an Integrated Active Control for Wheeled Vehicles

Author

Listed:
  • Antonio Navarrete Guzmán
  • Claudia Carolina Vaca García
  • Stefano Di Gennaro
  • Cuauhtémoc Acosta Lúa

Abstract

This study considers the design of a modified high-order sliding mode (HOSM) controller using a PI sliding surface to the attitude control of a ground vehicle. A robust-modified HOSM controller is derived, so that the lateral velocity and yaw rate tracks the desired trajectory despite the environment actions acting on the ground vehicle and parameter variations. The stability is guaranteed with Lyapunov’s stability theorem function. The performance of the dynamic controllers is evaluated using the CarSim simulator considering a challenging double steer maneuver.

Suggested Citation

  • Antonio Navarrete Guzmán & Claudia Carolina Vaca García & Stefano Di Gennaro & Cuauhtémoc Acosta Lúa, 2021. "HOSM Controller Using PI Sliding Manifold for an Integrated Active Control for Wheeled Vehicles," Mathematical Problems in Engineering, Hindawi, vol. 2021, pages 1-12, June.
    • Handle: RePEc:hin:jnlmpe:5482421
    DOI: 10.1155/2021/5482421
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2021/5482421.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2021/5482421.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2021/5482421?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:5482421. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.