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• W2481803321 abstract "This works treats the control problem of tracking the steering angle and the longitudinal velocity desired by the driver of a tilting 3-wheeled vehicle while keeping its tilt angle within a safety margin, so as to achieve safe and easy driving in closed-loop. A common practice in the literature is to determine the controller structure based upon reduced order approximate models of the vehicle. Here, one designs sliding mode controllers for such tracking problem directly on a 9-DOF model of a prototype of a tilting 3-wheeled vehicle. Three different approaches are used: the sliding model controller of Slotine, the Unit Vector Control (UVC) method of Utkin, and a recently proposed extension of the UVC controller. The simulation results compare the performance of theses controllers, and parametric uncertainties and external disturbances are also considered." @default.
• W2481803321 created "2016-08-23" @default.
• W2481803321 creator A5031455657 @default.
• W2481803321 creator A5031550568 @default.
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• W2481803321 date "2016-06-01" @default.
• W2481803321 modified "2023-09-27" @default.
• W2481803321 title "Steering and velocity tracking of a tilting three-wheeled vehicle using sliding mode control" @default.
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• W2481803321 doi "https://doi.org/10.1109/vss.2016.7506938" @default.
• W2481803321 hasPublicationYear "2016" @default.
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