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http://dx.doi.org/10.5302/J.ICROS.2012.18.4.295

Robust Discrete-Time Sliding Mode Control of Vehicle Steering System with Uncertainty  

Kim, Han-Me (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials)
Kim, Doo-Hyung (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials)
Park, Kyoung-Taik (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.4, 2012 , pp. 295-301 More about this Journal
Abstract
This paper deals with the design of robust DSMC (Discrete-Time Sliding Mode Control) scheme in order to overcome system uncertainty in steering system with mechanically joined structure. The proposed control scheme is one of robust control schemes based on system dynamics. Therefore, system dynamics required is not obtained from physical law but SCM (Signal Compression Method) through experiment in order to avoid complicate mathematical development and save time. However, SCM has a shortcoming that is the limitation of with $2^{nd}$ order linear model which does not include the dynamic of high-frequency band. Thus, considering system uncertainty, DSMC is designed. In addition, to reduce the chattering problem of DSMC, DSMC is derived from the reaching law and the Lyapunov stability condition. It is found that the proposed control scheme has robustness in spite of the perturbation of system uncertainty through computer simulation.
Keywords
steering control system; discrete-time; variable structure control; sliding-mode control; signal compression method; system uncertainty;
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Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 1
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