Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

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

불확실성을 포함한 차량 조향장치의 강인 이산시간 슬라이딩 모드 제어

  • 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)
  • Received : 2011.12.18
  • Accepted : 2012.01.10
  • Published : 2012.04.01
Download PDF
⟨ Previous Next ⟩

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

References

  1. P. Yih, J. Ryu, and J. C. Gerdes, "Modification of vehicle handling characteristics via steer-by," In Proc. of the 2003 American Control Conference, Denver, Co, pp. 2578-2583, 2003.
  2. H. M. Kim, S. J. Kim, D. H. Kim, and K. T. Park, "Discrete time variable structure control of vehicle steering systems," Proc. of 2011 ICROS (Institute of Control, Robotics and Systems) Daejeon Chungcheong Branch Conference (in Korean), pp. 34-35, 2011.
  3. J. R. Nelson and T. D. Smith, "Improved combat performance using relaxed static stability and a spin prevention system," AGARD CP-409, 1984.
  4. J. S. Kim, Linear Control System Engineering, Chungmungak, Korea, 1988.
  5. V. I. Utkin, Sliding Modes in Control and Optimization, Springer-Verlag, Berlin, Germany, 1992.
  6. K. D. Young, V. I. Utkin, and U. A. Ozguner, "Control Engineer's guide to sliding mode control," IEEE Trans. Control Syst. Technol., vol. 7, no. 3, pp. 328-342. 1999. https://doi.org/10.1109/87.761053
  7. C. Edwards and S. K. Spurgeon, Sliding Mode Control: Theory and Applications, Taylor and Francis, London, 1999.
  8. H. H. Choi, "Integral sliding mode controller design for unmatched uncertain systems," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 7, pp. 625-628, 2011. https://doi.org/10.5302/J.ICROS.2011.17.7.625
  9. W. Gao, Y. Wang, and A. Homaifa, "Discrete-time variable structure control systems," IEEE Transactions on Industrial Electronics, vol. 42, no. 2, pp. 117-122, 1995. https://doi.org/10.1109/41.370376
  10. N. Hung, J. S. Im, S. K. Jeong, H. K. Kim, and S. B. Kim, "Design of a sliding mode controller for an automatic guided vehicle and its implementation," International Journal of Control, Automation, and Systems, vol. 8, no. 1, pp. 81-90, 2010. https://doi.org/10.1007/s12555-010-0111-1
  11. G. Monsees and J. M. A. Scherpen, "Discrete-time siding mode control with a disturbance estimator," Proc. of the European Control conference, Porto, Portugal, pp. 3270-3275, 2001.
  12. M. C. Lee and N. Aoshima, "Identification and its evaluation of the system with a nonlinear element by signal compression method," SICE, vol. 25, no. 7, pp. 729-736, July 1989. https://doi.org/10.9746/sicetr1965.25.729
  13. M. K. Park and M. C. Lee, "Identification of motion platform using the signal compression method with pre-processor and its application to sliding mode control," KSME International Journal, vol. 16, no. 11, pp. 1379-1394, Nov. 2002. https://doi.org/10.1007/BF02985130
  14. G. F. Franklin, M. L. Workman, and D. Powell, Digital Control of Dynamic Systems, Addison-Wesley Longman, Boston, MA, USA, 1997.

Cited by

  1. Design of a Wideband Substrate-Integrated Waveguide (SIW) Frequency Selective Surface vol.20, pp.2, 2014, https://doi.org/10.5302/J.ICROS.2014.13.9001
  2. Ultrasonic Source Localization and Visualization Technique for Fault Detection of a Power Distribution Equipment vol.21, pp.4, 2015, https://doi.org/10.5302/J.ICROS.2015.14.8032