A sliding mode controlled three wheeled narrow vehicle

作者：Roqueiro Nestor^*; Fossas Colet Enric; de Faria Marcelo Gaudezi

来源：International Journal of Vehicle Design, 2013, 62(2-4): 123-146.

DOI：10.1504/IJVD.2013.052706

• sliding mode control
• flatness
• set-point generator
• tilting vehicle
• reduced nonlinear models

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 controllers are designed in the sliding mode framework through the analytical development of the bicycle model and simulated in the full eighteen-order system.

• 出版日期2013