Sliding Mode Observer Based Controller for Active Steering Control
Keywords:Controller, Nonlinear System, Observer, Sliding Mode Control, Stability,
AbstractThe purpose of this paper is to enhance the performance of steering control of a vehicle. A nonlinear sliding mode observer based active steering controller that will overcome the disturbances such as road condition and crosswind is proposed. Condition of stability is given by using Lyapunov stability theory that relates to sliding mode characteristics. The controller proves that it is able to stabilize the steering wheel better when disturbances such as braking action and crosswind are included in the system. Lastly, simulations are given to prove the validity of the controller stability. In the simulations, comparisons are made between the outcome of the uncontrolled, Linear Quadratic Regulator (LQR), Sliding Mode Controller (SMC) and Sliding Mode Observer Based Controller (SMOC).
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