Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Design and experimental evaluation of a novel sliding mode controller for an articulated vehicle
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-0079-9049
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-2001-7171
Show others and affiliations
2018 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 103, p. 213-221Article in journal (Refereed) Published
Abstract [en]

This article presents the design and experimental evaluation of a novel sliding mode control scheme, being applied to the case of an articulated vehicle. The proposed sliding mode controller is based on a novel continuous sliding surface, being introduced for reducing the chattering phenomenon, while achieving a better tracking performance and a fast minimization of the corresponding tracking error. The derivation of the sliding mode controller relies on the fully nonlinear kinematic model of the articulated vehicle, while the overall stability of the control scheme is proven based on the Lyapunov's stability condition. The performance of the established control scheme is being experimentally evaluated through multiple path tracking scenarios on a small scale and fully realistic articulated vehicle

Place, publisher, year, edition, pages
Elsevier, 2018. Vol. 103, p. 213-221
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-67803DOI: 10.1016/j.robot.2018.01.006ISI: 000430764100016OAI: oai:DiVA.org:ltu-67803DiVA, id: diva2:1186798
Note

Validerad;2018;Nivå 2;2018-04-10 (andbra)

Available from: 2018-03-01 Created: 2018-03-01 Last updated: 2018-05-14Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full text

Search in DiVA

By author/editor
Nayl, ThakerNikolakopoulos, GeorgeGustafsson, ThomasKominiak, DariuszNyberg, Rickard
By organisation
Signals and Systems
In the same journal
Robotics and Autonomous Systems
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 13 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf