Sliding Mode Observer Based Controller for Active Steering Control

Authors

  • A. S. M. Isira Advanced Sensors and Embedded Control System (ASECS). Center for Telecommunication Research and Innovation(CeTRI). Fakulti Kejuruteraan Elektronik dan Kejuruteraan Komputer. Universiti Teknikal Malaysia Melaka. Durian Tunggal, 76100 Melaka Malaysia.
  • N. X. Yan Advanced Sensors and Embedded Control System (ASECS). Center for Telecommunication Research and Innovation(CeTRI). Fakulti Kejuruteraan Elektronik dan Kejuruteraan Komputer. Universiti Teknikal Malaysia Melaka. Durian Tunggal, 76100 Melaka Malaysia.
  • M. M. Ibrahim Machine Learning and Signal Processing (MLSP). Center for Telecommunication Research and Innovation(CeTRI). Fakulti Kejuruteraan Elektronik dan Kejuruteraan Komputer. Universiti Teknikal Malaysia Melaka. Durian Tunggal, 76100 Melaka Malaysia.
  • Shakir Saat Advanced Sensors and Embedded Control System (ASECS). Center for Telecommunication Research and Innovation(CeTRI). Fakulti Kejuruteraan Elektronik dan Kejuruteraan Komputer. Universiti Teknikal Malaysia Melaka. Durian Tunggal, 76100 Melaka Malaysia.
  • A. M. Khafe Advanced Sensors and Embedded Control System (ASECS). Center for Telecommunication Research and Innovation(CeTRI). Fakulti Kejuruteraan Elektronik dan Kejuruteraan Komputer. Universiti Teknikal Malaysia Melaka. Durian Tunggal, 76100 Melaka Malaysia.
  • A. M. Darsono Advanced Sensors and Embedded Control System (ASECS). Center for Telecommunication Research and Innovation(CeTRI). Fakulti Kejuruteraan Elektronik dan Kejuruteraan Komputer. Universiti Teknikal Malaysia Melaka. Durian Tunggal, 76100 Melaka Malaysia.

Keywords:

Controller, Nonlinear System, Observer, Sliding Mode Control, Stability,

Abstract

The 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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Published

2018-07-04

How to Cite

Isira, A. S. M., Yan, N. X., Ibrahim, M. M., Saat, S., Khafe, A. M., & Darsono, A. M. (2018). Sliding Mode Observer Based Controller for Active Steering Control. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 10(2-7), 43–48. Retrieved from https://jtec.utem.edu.my/jtec/article/view/4417

Issue

Vol. 10 No. 2-7: Embracing The 4th Industrial Revolution: Innovation in Telecommunication, Electronic & Computer Engineering III

Section

Articles

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