NDLI: Lateral and longitudinal dynamic coupling control for vehicles lane changing

Content Provider	IEEE Xplore Digital Library
Author	Wei Li Jianmin Duan
Copyright Year	2010
Description	Author affiliation: College of Electronic Information & Control Engineering, Beijing University of Technology, China (Wei Li; Jianmin Duan)
Abstract	There are strong dynamic coupling effects exist between vehicles lateral and longitudinal motion, especially in lane changing process. It is difficult to get ideal control effect by lateral and longitudinal control separately. Thus, to realize a smooth and safety lane changing process the nonlinear lateral and longitudinal coupling vehicle model was established. According to sliding mode control and disturbance observer theory the integrated longitudinal and lateral control for lane change was studied and a composite control strategy was proposed based on sliding mode control and disturbance observer. This strategy used disturbance observer to estimate outside disturbance or uncertainty that exist in system and the estimate value was to compensated the sliding mode controller's switching gain for improve controller's robustness and weaken its output chattering. Prove the stability of this control strategy based on Lyapunov theory. The simulation results of an example are investigated to show the feasibility and the effectiveness of this control strategy.
Starting Page	4628
Ending Page	4632
File Size	513044
Page Count	5
File Format	PDF
ISBN	9781424467129
e-ISBN	9781424467129
DOI	10.1109/WCICA.2010.5554163
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-07
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Observers Couplings Vehicle dynamics Sliding mode control Chromium Vehicles Disturbance observer Lane changing Longitudinal and lateral coupling
Content Type	Text
Resource Type	Article

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