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Title:
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A sliding mode controlled three wheeled narrow vehicle
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Author:
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Fossas Colet, Enric; Roqueiro, Nestor; Gaudezi de Faria, Marcelo
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia |
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Abstract:
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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. |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control
-Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles
-Motor vehicles--Automatic control
-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.
-Vehicles de motor -- Control automàtic |
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Rights:
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Document type:
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Article - Published version
Article |
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