Authors: Nestor Roqueiro; Enric Fossas-Colet; Marcelo Gaudezi de Faria
Addresses: Departamento de Automação e Sistemas, Universidade Federal de Santa Catarina, Florianópolis, SC, 88040 Brazil ' Institut d'Organització i Control de Sistemes Industrials and Department of Automatic Control, Universitat Politècnica de Catalunya, Avda. Diagonal 647, pl. 11, 08028 Barcelona, Spain ' Departamento de Automação e Sistemas, Universidade Federal de Santa Catarina, Florianópolis, SC, 88040 Brazil
Abstract: 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.
Keywords: sliding mode control; SMC; flatness; set-point generator; tilting vehicles; reduced nonlinear modelling; three wheeled vehicles; narrow vehicles; simulation; vehicle design; trajectory control; vehicle stability; bicycle models; tilting control; speed control.
International Journal of Vehicle Design, 2013 Vol.62 No.2/3/4, pp.123 - 146
Received: 30 Oct 2010
Accepted: 18 Sep 2011
Published online: 18 Mar 2013 *