Adaptive sliding mode control method based on nonlinear integral sliding surface for agricultural vehicle steering control
type: Item
instance of: scholarly article
title: Adaptive sliding mode control method based on nonlinear integral sliding surface for agricultural vehicle steering control
zbMATH Open document ID: 1407.93088
DOI: 10.1155/2014/965215
author: Taochang Li
author: Jingtao Hu
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: Automatic steering control is the key factor and essential condition in the realization of the automatic navigation control of agricultural vehicles. In order to get satisfactory steering control performance, an adaptive sliding mode control method based on a nonlinear integral sliding surface is proposed in this paper for agricultural vehicle steering control. First, the vehicle steering system is modeled as a second-order mathematic model; the system uncertainties and unmodeled dynamics as well as the external disturbances are regarded as the equivalent disturbances satisfying a certain boundary. Second, a transient process of the desired system response is constructed in each navigation control period. Based on the transient process, a nonlinear integral sliding surface is designed. Then the corresponding sliding mode control law is proposed to guarantee the fast response characteristics with no overshoot in the closed-loop steering control system. Meanwhile, the switching gain of sliding mode control is adaptively adjusted to alleviate the control input chattering by using the fuzzy control method. Finally, the effectiveness and the superiority of the proposed method are verified by a series of simulation and actual steering control experiments.
Mathematics Subject Classification ID: 93B12
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C95
zbMATH DE Number: 7017732
Wikidata QID: Q59071225
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2014/965215
OpenAlex ID: W2024129509
cites work: Adaptive sliding-mode tracking control for a class of nonholonomic mechanical systems
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description: scientific article; zbMATH DE number 7017732