Earticle

초록

영어

The lane keeping problem of automatic driving for vehicles was studied based on the simplified linear lateral dynamic model. Three kinds of sliding mode methods were proposed by adopting integral sliding mode, anti-saturation and adaptive method. The stability of each method was proved by constructing Lyapunov method. What is worthy pointing out is that the anti-saturation method can not only reduce the oscillations by using soft function and sigmoid function, but also it can solve the saturation problem of front wheels by using the bounded characteristics of above two functions. And this method is also very simple and it has a reasonable physical meaning which makes the chosen of control parameter very easy. At last, detailed numerical simulations were done for proposed three methods and simulation results were compared with other three methods in the past references to testify the rightness of the proposed method.

목차

Abstract
 1. Introduction
 2. Model Description
 3. Transformation and Hypothesis of the Model
 4. Design of Two Kinds of Anti-saturation Sliding Controller
 5. Design of a Kind of Adaptive Integral Sliding Mode Controller
 6. Simulation and Analysis
 7. Conclusion
 References

키워드

저자

• Jie Yang [ Zhejiang Institute of Communications, Hang Zhou, 311112, China ]
• Junbo Zhao [ Zhejiang Institute of Communications, Hang Zhou, 311112, China ]
• Junwei Lei [ Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai, 264001, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Hybrid Information Technology

• 간기

  격월간

• pISSN

  1738-9968

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605