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Sliding Mode Path Tracking Control for Automatic Steering of Vehicles
Technical Paper
2001-01-3307
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
This paper studies the controller design for automatic steering of vehicles tracking a desired path. A nonlinear model with coupled inputs is considered and a suitable transformation is applied to deal with the nonlinearities. Nonlinear sliding surfaces are designed using Lyapunov approach to deal with the nonlinear effects. Simulation results are given to show that the designed controller is effective.
Topic
Citation
Zhang, J., Rachid, A., and Xu, S., "Sliding Mode Path Tracking Control for Automatic Steering of Vehicles," SAE Technical Paper 2001-01-3307, 2001, https://doi.org/10.4271/2001-01-3307.Also In
SAE 2001 Transactions Journal of Passenger Cars - Mechanical Systems
Number: V110-6; Published: 2002-09-15
Number: V110-6; Published: 2002-09-15
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