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- W2392128613 abstract "The lane line keeping problem of automatic driving for vehicles is studied based on the simplified linear lateral dynamic model with consideration of the inertial delay characteristic of automatic forward tire steering system. First,the model is divided into a relative certain subsystem and an uncertain subsystem according to the actual situation,a kind of hybrid control method combining inversion control and sliding mode control is proposed to eliminate the lateral position error of vehicle. It makes use of the advantage of sliding mode control that has a strong robustness for uncertain lateral dynamic models of vehicles. Then,aiming at the certain inertial delay system,it inherits the idea of backward induction,interlocking and accurate tactical design of inversion control. A kind of soft function is used to reduce the chattering problem of traditional sliding mode control,and a Lyapunov function is constructed to guarantee all signals of close loop system are bounded. At last,100 times of random numerical simulation are conducted for the situation of uncertain tire coefficients,and simulation result testified the rapidity and robustness of the proposed method.What is worthy of pointing out is that it is physical meaningful to divide the complex system into a uncertain part and a certain part according to the actual physical situation,which can provide a theoretical reference forthe future experiment of automatic driving." @default.
- W2392128613 created "2016-06-24" @default.
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- W2392128613 date "2015-01-01" @default.
- W2392128613 modified "2023-09-24" @default.
- W2392128613 title "Research on Hybrid Control of Lateral Position of Lane Line Based on Inversion and Sliding Mode" @default.
- W2392128613 hasPublicationYear "2015" @default.
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