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A sliding mode controlled three wheeled narrow vehicle

Autor
Fossas, E., E. Fossas, E. Fossas-Colet, Enric Fossas, Enric Fossas-Colet; Roqueiro, N.; Gaudezi de Faria, M.
Tipus d'activitat
Article en revista
Revista
International journal of vehicle design
Data de publicació
2013
Volum
62
Número
2-4
Pàgina inicial
123
Pàgina final
146
DOI
https://doi.org/10.1504/IJVD.2013.052706 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/19732 Obrir en finestra nova
Resum
This paper presents a sliding mode controller for a narrow tilting three-wheeled vehicle. The vehicle is modelled as a dynamic eighteen-order system with two inputs and two outputs, however, a simple third-order model of a bicycle is considered for design and analysis. The appropriateness of the simpler model for design purposes is verified through simulations. The designed trajectory control considers vehicle stability limits and takes advantage of the bicycle model flatness. Tilting and speed ...
Citació
Fossas, E.; Roqueiro, N.; Gaudezi de Faria, M. A sliding mode controlled three wheeled narrow vehicle. "International journal of vehicle design", 2013, vol. 62, núm. 2-4, p. 123-146.
Paraules clau
SMC, bicycle models, flatness, narrow vehicles, reduced nonlinear modelling, set-point generator, simulation, sliding mode control, speed control., three wheeled vehicles, tilting control, tilting vehicles, trajectory control, vehicle design, vehicle stability
Grup de recerca
ACES - Control Avançat de Sistemes d´Energia

Participants