NDLI: Design of a Robust Yaw Rate Controller Using Sliding Mode Control and Extended State Observer for Navigation of an Autonomous Ground Vehicle

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Design of a Robust Yaw Rate Controller Using Sliding Mode Control and Extended State Observer for Navigation of an Autonomous Ground Vehicle

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Borate, Suraj Shamrao Sahoo, Shubhashisa Devika, K. Baby Shankar, C. Subramanian Kiran, K. Mangrulkar
Copyright Year	2018
Abstract	This paper deals with tracking of desired yaw rate generated by the path planner of an Autonomous Ground Vehicle (AGV) in the presence of unmodeled dynamics, changes in operating conditions and parametric uncertainties. A mathematical model considering the dynamics of the test vehicle and the steering actuator was used for controller design. The estimate of the unknown part of dynamics, called the total disturbance, obtained from the Extended State Observer (ESO) was used by Sliding Mode Controller (SMC) to compensate the actual total disturbance. It was observed that the lower bound on the SMC switching gain depends on the ratio of total disturbance estimation error and assumed known part of the system dynamics. This allows the choice of a low value of SMC switching gain, which in turn resulted in reduced chattering amplitude. Further attenuation in chattering was achieved using a saturation function. After simulating the designed controller in MATLAB-SIMULINK environment, the controller was validated in IPG: CarMaker® simulation platform over a large operating range by changing the mass distribution of the vehicle, speed of the vehicle, cornering stiffness of the tire and terrain friction coefficient. A look-up table was formulated for the maximum achievable yaw rate at different speeds, i.e., from 5 to 20 m/s, given the maximum steering angle input considering rollover and slip threshold while the terrain friction coefficient was also varied from 0.2 to 0.8. It was observed that the designed controller was robust to changes in operating conditions, parametric uncertainties and unmodeled dynamics.
File Format	PDF
ISBN	9780791852033
DOI	10.1115/IMECE2018-88752
Volume Number	Volume 4A: Dynamics, Vibration, and Control
Conference Proceedings	ASME 2018 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2018-11-09
Publisher Place	Pittsburgh, Pennsylvania, USA
Access Restriction	Subscribed
Subject Keyword	Actuators Uncertainty Navigation System dynamics Automated guided vehicles Control equipment Sliding mode control Yaw Vehicles Design Errors Friction Simulation Dynamics (mechanics) Stiffness Tires State estimation Matlab
Content Type	Text
Resource Type	Article

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