Active steering for vehicle system using sliding mode control

The objectives of this thesis are to present a modeling and control of a single-track car model for active steering vehicle system. The sliding mode control strategy will be utilized to overcome various coefficients of road frictions and external disturbances on the system. In order to compensate th...

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Main Author: Abd. Ghani, Nor Maniha
Format: Thesis
Published: 2006
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Online Access:http://eprints.utm.my/id/eprint/5566/
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spelling my.utm.55662020-07-22T04:26:14Z http://eprints.utm.my/id/eprint/5566/ Active steering for vehicle system using sliding mode control Abd. Ghani, Nor Maniha TK Electrical engineering. Electronics Nuclear engineering HE Transportation and Communications The objectives of this thesis are to present a modeling and control of a single-track car model for active steering vehicle system. The sliding mode control strategy will be utilized to overcome various coefficients of road frictions and external disturbances on the system. In order to compensate the disturbances, side slip angles and yaw rate of the vehicle will be observed. The model presented take into account different friction of road coefficients of the system. From the mathematical derivation it is found that the system has fulfilled a matching condition. Extensive computer simulations are performed for various types of disturbances such as crosswind and braking torque. From the simulation results the effect of disturbance attenuation will be observed. The performance of the proposed controller will be compared to the linear quadratic regulator and pole placement techniques. The results showed that the sliding mode control scheme is effectively in attenuating various disturbances for different road coefficients as compared to the LQR and pole placement control schemes. Furthermore, the simulation results also showed that the system is insensitive to the external disturbances and capable to overcome ‘late action’ by the driver due to sudden disturbance on any road conditions. 2006-05 Thesis NonPeerReviewed Abd. Ghani, Nor Maniha (2006) Active steering for vehicle system using sliding mode control. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering.
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
HE Transportation and Communications
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
HE Transportation and Communications
Abd. Ghani, Nor Maniha
Active steering for vehicle system using sliding mode control
description The objectives of this thesis are to present a modeling and control of a single-track car model for active steering vehicle system. The sliding mode control strategy will be utilized to overcome various coefficients of road frictions and external disturbances on the system. In order to compensate the disturbances, side slip angles and yaw rate of the vehicle will be observed. The model presented take into account different friction of road coefficients of the system. From the mathematical derivation it is found that the system has fulfilled a matching condition. Extensive computer simulations are performed for various types of disturbances such as crosswind and braking torque. From the simulation results the effect of disturbance attenuation will be observed. The performance of the proposed controller will be compared to the linear quadratic regulator and pole placement techniques. The results showed that the sliding mode control scheme is effectively in attenuating various disturbances for different road coefficients as compared to the LQR and pole placement control schemes. Furthermore, the simulation results also showed that the system is insensitive to the external disturbances and capable to overcome ‘late action’ by the driver due to sudden disturbance on any road conditions.
format Thesis
author Abd. Ghani, Nor Maniha
author_facet Abd. Ghani, Nor Maniha
author_sort Abd. Ghani, Nor Maniha
title Active steering for vehicle system using sliding mode control
title_short Active steering for vehicle system using sliding mode control
title_full Active steering for vehicle system using sliding mode control
title_fullStr Active steering for vehicle system using sliding mode control
title_full_unstemmed Active steering for vehicle system using sliding mode control
title_sort active steering for vehicle system using sliding mode control
publishDate 2006
url http://eprints.utm.my/id/eprint/5566/
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score 13.18916