In:
Applied Mechanics and Materials, Trans Tech Publications, Ltd., Vol. 590 ( 2014-6), p. 413-417
Abstract:
In the presence of parametric uncertainty, the adaptive control method for lane changing of intelligent vehicle was studied. Based on the lateral dynamical model of vehicle, by applying terminal sliding mode technology, the yaw-rate tracking control law for lane changing was designed and the estimation formula for uncertain control parameters was deduced by using direct adaptive method. By using the control law and adaptive law for uncertain parameter designed in this paper, expected control performance of stability of tracking error and the convergence property of parameter estimation values was verified from the simulation.
Type of Medium:
Online Resource
ISSN:
1662-7482
DOI:
10.4028/www.scientific.net/AMM.590
DOI:
10.4028/www.scientific.net/AMM.590.413
Language:
Unknown
Publisher:
Trans Tech Publications, Ltd.
Publication Date:
2014
detail.hit.zdb_id:
2251882-4