Integrated control of active front steer angle and direct yaw moment using Second Order Sliding Mode technique

Arobindra Saikia, C. Mahanta
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引用次数: 1

Abstract

In this paper, an improvement in the design of the integrated active front steering (AFS) and direct yaw moment control (DYC) of road vehicles is attempted. A controller using Second Order Sliding Mode (SOSM) with proportional integral (PI) sliding surface is proposed. In this controller control gains are chosen in such a way that the characteristics polynomial whose coefficients are control gains is strictly Hurwitz and asymptotic stability of the closed loop system is ensured. From simulation results it is observed that the tracking performance is improved using the SOSM. Moreover, due to elimination of chattering by the SOSM smooth tracking trajectory is also guaranteed.
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基于二阶滑模技术的主动前转向角和直接偏航力矩集成控制
本文对道路车辆主动前转向系统(AFS)与直接偏航力矩控制系统(DYC)的集成设计进行了改进。提出了一种带比例积分(PI)滑动面的二阶滑模控制器。在该控制器中,控制增益的选取使得以控制增益为系数的特征多项式是严格的Hurwitz,保证了闭环系统的渐近稳定性。仿真结果表明,采用该方法可以提高系统的跟踪性能。此外,由于SOSM消除了抖振,也保证了跟踪轨迹的平滑。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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