Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle
Inertia phenomenon in steering vehicle is major factor that allow oversteering incident in which come from the insufficient steering and slip control over the vehicle itself. The efficient and robust control system is required to consider both precision and stability of the vehicle for better manuev...
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| Format: | Article |
| Language: | English |
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Institute of Advanced Engineering and Science
2022
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/40146/1/Robust%20super-twisting%20sliding%20mode%20controller%20for%20the%20lateral.pdf |
| _version_ | 1796996192240926720 |
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| author | Norsharimie, Mat Adam Addie, Irawan Mohd Ashraf, Ahmad |
| author_facet | Norsharimie, Mat Adam Addie, Irawan Mohd Ashraf, Ahmad |
| author_sort | Norsharimie, Mat Adam |
| collection | UMP |
| description | Inertia phenomenon in steering vehicle is major factor that allow oversteering incident in which come from the insufficient steering and slip control over the vehicle itself. The efficient and robust control system is required to consider both precision and stability of the vehicle for better manuevering especially in cornering road. Therefore, this research has taken the initiative to contribute a better solution for vehicle control according to the mentioned problem and situation with a proposed robust super-twisting sliding mode control (ST-SMC) by simplified torque on wheel and steering angle input with decoupling lateral and longitudinal errors. This control technique approach to allow coping with the issue by reducing forces and inertia for optimum speed at the cornering period and with the almost precise steering positioning. The dynamic model of rack steering vehicle (RSV) is used as the model plant and the proposed control system is simulated for verification. The results shows that the proposed ST-SMC offers improved performance in terms of speed increase time and vehicle stability that gives impact to the RSV being skidded or collided to any obstacles during cornering period. |
| first_indexed | 2024-03-06T13:13:21Z |
| format | Article |
| id | UMPir40146 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T13:13:21Z |
| publishDate | 2022 |
| publisher | Institute of Advanced Engineering and Science |
| record_format | dspace |
| spelling | UMPir401462024-02-07T07:15:17Z http://umpir.ump.edu.my/id/eprint/40146/ Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle Norsharimie, Mat Adam Addie, Irawan Mohd Ashraf, Ahmad T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering Inertia phenomenon in steering vehicle is major factor that allow oversteering incident in which come from the insufficient steering and slip control over the vehicle itself. The efficient and robust control system is required to consider both precision and stability of the vehicle for better manuevering especially in cornering road. Therefore, this research has taken the initiative to contribute a better solution for vehicle control according to the mentioned problem and situation with a proposed robust super-twisting sliding mode control (ST-SMC) by simplified torque on wheel and steering angle input with decoupling lateral and longitudinal errors. This control technique approach to allow coping with the issue by reducing forces and inertia for optimum speed at the cornering period and with the almost precise steering positioning. The dynamic model of rack steering vehicle (RSV) is used as the model plant and the proposed control system is simulated for verification. The results shows that the proposed ST-SMC offers improved performance in terms of speed increase time and vehicle stability that gives impact to the RSV being skidded or collided to any obstacles during cornering period. Institute of Advanced Engineering and Science 2022-08 Article PeerReviewed pdf en cc_by_sa_4 http://umpir.ump.edu.my/id/eprint/40146/1/Robust%20super-twisting%20sliding%20mode%20controller%20for%20the%20lateral.pdf Norsharimie, Mat Adam and Addie, Irawan and Mohd Ashraf, Ahmad (2022) Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle. Bulletin of Electrical Engineering and Informatics, 11 (4). pp. 1882-1891. ISSN 2089-3191. (Published) https://doi.org/10.11591/eei.v11i4.3641 https://doi.org/10.11591/eei.v11i4.3641 |
| spellingShingle | T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering Norsharimie, Mat Adam Addie, Irawan Mohd Ashraf, Ahmad Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle |
| title | Robust super-twisting sliding mode controller for the lateral
and longitudinal dynamics of rack steering vehicle |
| title_full | Robust super-twisting sliding mode controller for the lateral
and longitudinal dynamics of rack steering vehicle |
| title_fullStr | Robust super-twisting sliding mode controller for the lateral
and longitudinal dynamics of rack steering vehicle |
| title_full_unstemmed | Robust super-twisting sliding mode controller for the lateral
and longitudinal dynamics of rack steering vehicle |
| title_short | Robust super-twisting sliding mode controller for the lateral
and longitudinal dynamics of rack steering vehicle |
| title_sort | robust super twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle |
| topic | T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/40146/1/Robust%20super-twisting%20sliding%20mode%20controller%20for%20the%20lateral.pdf |
| work_keys_str_mv | AT norsharimiematadam robustsupertwistingslidingmodecontrollerforthelateralandlongitudinaldynamicsofracksteeringvehicle AT addieirawan robustsupertwistingslidingmodecontrollerforthelateralandlongitudinaldynamicsofracksteeringvehicle AT mohdashrafahmad robustsupertwistingslidingmodecontrollerforthelateralandlongitudinaldynamicsofracksteeringvehicle |