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Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle

Inertia phenomenon in steering vehicle is major factor that allow oversteering incident in which come from the insufficient steering and slip control over the vehicle itself. The efficient and robust control system is required to consider both precision and stability of the vehicle for better manuev...

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Main Authors: Norsharimie, Mat Adam, Addie, Irawan, Mohd Ashraf, Ahmad
Format: Article
Language:English
Published: Institute of Advanced Engineering and Science 2022
Subjects:
T Technology (General)
TA Engineering (General). Civil engineering (General)
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/40146/1/Robust%20super-twisting%20sliding%20mode%20controller%20for%20the%20lateral.pdf
http://umpir.ump.edu.my/id/eprint/40146/
https://doi.org/10.11591/eei.v11i4.3641
https://doi.org/10.11591/eei.v11i4.3641
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spelling my.ump.umpir.401462024-02-07T07:15:17Z http://umpir.ump.edu.my/id/eprint/40146/ Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle Norsharimie, Mat Adam Addie, Irawan Mohd Ashraf, Ahmad T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering Inertia phenomenon in steering vehicle is major factor that allow oversteering incident in which come from the insufficient steering and slip control over the vehicle itself. The efficient and robust control system is required to consider both precision and stability of the vehicle for better manuevering especially in cornering road. Therefore, this research has taken the initiative to contribute a better solution for vehicle control according to the mentioned problem and situation with a proposed robust super-twisting sliding mode control (ST-SMC) by simplified torque on wheel and steering angle input with decoupling lateral and longitudinal errors. This control technique approach to allow coping with the issue by reducing forces and inertia for optimum speed at the cornering period and with the almost precise steering positioning. The dynamic model of rack steering vehicle (RSV) is used as the model plant and the proposed control system is simulated for verification. The results shows that the proposed ST-SMC offers improved performance in terms of speed increase time and vehicle stability that gives impact to the RSV being skidded or collided to any obstacles during cornering period. Institute of Advanced Engineering and Science 2022-08 Article PeerReviewed pdf en cc_by_sa_4 http://umpir.ump.edu.my/id/eprint/40146/1/Robust%20super-twisting%20sliding%20mode%20controller%20for%20the%20lateral.pdf Norsharimie, Mat Adam and Addie, Irawan and Mohd Ashraf, Ahmad (2022) Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle. Bulletin of Electrical Engineering and Informatics, 11 (4). pp. 1882-1891. ISSN 2089-3191. (Published) https://doi.org/10.11591/eei.v11i4.3641 https://doi.org/10.11591/eei.v11i4.3641
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic T Technology (General)
TA Engineering (General). Civil engineering (General)
TK Electrical engineering. Electronics Nuclear engineering
spellingShingle T Technology (General)
TA Engineering (General). Civil engineering (General)
TK Electrical engineering. Electronics Nuclear engineering
Norsharimie, Mat Adam
Addie, Irawan
Mohd Ashraf, Ahmad
Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle
description Inertia phenomenon in steering vehicle is major factor that allow oversteering incident in which come from the insufficient steering and slip control over the vehicle itself. The efficient and robust control system is required to consider both precision and stability of the vehicle for better manuevering especially in cornering road. Therefore, this research has taken the initiative to contribute a better solution for vehicle control according to the mentioned problem and situation with a proposed robust super-twisting sliding mode control (ST-SMC) by simplified torque on wheel and steering angle input with decoupling lateral and longitudinal errors. This control technique approach to allow coping with the issue by reducing forces and inertia for optimum speed at the cornering period and with the almost precise steering positioning. The dynamic model of rack steering vehicle (RSV) is used as the model plant and the proposed control system is simulated for verification. The results shows that the proposed ST-SMC offers improved performance in terms of speed increase time and vehicle stability that gives impact to the RSV being skidded or collided to any obstacles during cornering period.
format Article
author Norsharimie, Mat Adam
Addie, Irawan
Mohd Ashraf, Ahmad
author_facet Norsharimie, Mat Adam
Addie, Irawan
Mohd Ashraf, Ahmad
author_sort Norsharimie, Mat Adam
title Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle
title_short Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle
title_full Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle
title_fullStr Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle
title_full_unstemmed Robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle
title_sort robust super-twisting sliding mode controller for the lateral and longitudinal dynamics of rack steering vehicle
publisher Institute of Advanced Engineering and Science
publishDate 2022
url http://umpir.ump.edu.my/id/eprint/40146/1/Robust%20super-twisting%20sliding%20mode%20controller%20for%20the%20lateral.pdf
http://umpir.ump.edu.my/id/eprint/40146/
https://doi.org/10.11591/eei.v11i4.3641
https://doi.org/10.11591/eei.v11i4.3641
_version_ 1822924117435744256
score 13.235318

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