A sliding mode controlled three wheeled narrow vehicle

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RECERCAT Home > Universitat Politècnica de Catalunya > Documents de recerca > View document

To access the full text documents, please follow this link: http://hdl.handle.net/2117/19732

dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor	Universitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia
dc.contributor.author	Fossas Colet, Enric
dc.contributor.author	Roqueiro, Nestor
dc.contributor.author	Gaudezi de Faria, Marcelo
dc.date	2013
dc.identifier.citation	Fossas, E.; Roqueiro, N.; Gaudezi de Faria, M. A sliding mode controlled three wheeled narrow vehicle. "International journal of vehicle design", 2013, vol. 62, núm. 2-4, p. 123-146.
dc.identifier.citation	0143-3369
dc.identifier.citation	10.1504/IJVD.2013.052706
dc.identifier.uri	http://hdl.handle.net/2117/19732
dc.language.iso	eng
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject	Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles
dc.subject	Motor vehicles--Automatic control
dc.subject	sliding mode control
dc.subject	SMC
dc.subject	flatness
dc.subject	set-point generator
dc.subject	tilting vehicles
dc.subject	reduced nonlinear modelling
dc.subject	three wheeled vehicles
dc.subject	narrow vehicles
dc.subject	simulation
dc.subject	vehicle design
dc.subject	trajectory control
dc.subject	vehicle stability
dc.subject	bicycle models
dc.subject	tilting control
dc.subject	speed control.
dc.subject	Vehicles de motor -- Control automàtic
dc.title	A sliding mode controlled three wheeled narrow vehicle
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/article
dc.description.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.

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