![](/images/graphics-bg.png)
Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-30
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Li, Taochang& Hu, Jing-tao. 2014. Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-512022
Modern Language Association (MLA)
Li, Taochang& Hu, Jing-tao. Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control. Mathematical Problems in Engineering No. 2014 (2014), pp.1-10.
https://search.emarefa.net/detail/BIM-512022
American Medical Association (AMA)
Li, Taochang& Hu, Jing-tao. Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-512022
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-512022