A sliding mode controlled three wheeled narrow vehicle

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.

• Record URL:
  https://doi.org/10.1504/IJVD.2013.052706
• Record URL:
  http://inderscience.metapress.com/link.asp?target=contribution&id=D57526V3486287U0
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/14775360
• Supplemental Notes:
  • Copyright © 2013 Inderscience Enterprises Ltd.
• Authors:
  • Roqueiro, Nestor
  • Fossas–Colet, Enric
  • Faria, Marcelo Gaudezi de
• Publication Date: 2013

Language

• English

Media Info

• Media Type: Print
• Features: Figures; References;
• Pagination: pp 123-146
• Serial:
  • International Journal of Vehicle Design
  • Volume: 62
  • Issue Number: 2-4
  • Publisher: Inderscience Enterprises Limited
  • ISSN: 1477-5360
  • Serial URL: http://www.inderscience.com/jhome.php?jcode=IJVD

Subject/Index Terms

• TRT Terms: Bicycles; Mathematical models; Nonlinear systems; Sliding mode control; Three wheeled vehicles; Trajectory control
• Uncontrolled Terms: Tilting vehicles
• Subject Areas: Design; Highways; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01481885
• Record Type: Publication
• Files: TRIS
• Created Date: May 8 2013 3:03PM