新型铰接车辆滑模控制器的设计与外文文献.pdfVIP

Robotics and Autonomous Systems ( ) – Contents lists available at ScienceDirect Robotics and Autonomous Systems journal homepage: /locate/robot Design and experimental evaluation of a novel sliding mode controller for an articulated vehicle T. Nayl, G. Nikolakopoulos *, T. Gustafsson, D. Kominiak, R. Nyberg Control Engineering Group, Department of Computer Science, Electrical and Space Engineering, Luleå University of Technology, Luleå, Sweden a r t i c l e i n f o a b s t r a c t Article history: This article presents the design and experimental evaluation of a novel sliding mode control scheme, being Received 14 March 2017 applied to the case of an articulated vehicle. The proposed sliding mode controller is based on a novel Received in revised form 12 December 2017 continuous sliding surface, being introduced for reducing the chattering phenomenon, while achieving a Accepted 17 January 2018 better tracking performance and a fast minimization of the corresponding tracking error. The derivation Available online xxxx of the sliding mode controller relies on the fully nonlinear kinematic model of the articulated vehicle, Keywords: while the overall stability of the control scheme is proven based on the Lyapunov’s stability condition. Sliding mode control The performance of the established control scheme is being experimentally evaluated through multiple Articulated vehicle path tracking scenarios on a small scale and full