スライディングモード制御を用いた四輪操舵制御における非線形ゲインの調整法

概要

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This paper explains a method of four-wheel steering control by using Sliding Mode Control (SMC). The purpose is to improve the control safety of four-wheeled vehicle by using invariable SMC for disturbance that satisfies the matching condition. Parameter variation and influence of the side wind are thought as disturbance related to driving the car. Steer control that corresponds to the influence of the side wind and parameter variation by using SMC is done, and it is examined to be able to do the achievement of the high stability and the decrease of the error margin with the target path. Then, we propose the adjustment method of the value of a nonlinear gain of the control input that considers the phase-lag to the steer of a lateral acceleration. The improvement of the control of disturbance is achieved by the proposal method.
2009-07-01