Title:
スライディングモード制御装置及び車両の自動操舵制御装置
Document Type and Number:
Japanese Patent JP5483194
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a sliding mode control apparatus capable of accurately reducing a chattering phenomenon while maintaining excellent convergence on a hyperplane.SOLUTION: A sliding mode control apparatus sets a hyperplane σn such that a nonlinear relation holds true between a state quantity y as a control target and a time variation rate y' of the state quantity and makes the state quantity y and the time variation rate y' of the state quantity converge on the set hyperplane σn. The sliding mode control apparatus also sets a boundary layer φ such that a value increases as a difference increases between a slope of the hyperplane σn and a slope of a convergence trajectory of the state quantity y as the control target and the time variation rate y' of the state quantity in an initial state, and reduces a nonlinear input θnl for bringing the state quantity y and the time variation rate y' of the state quantity to the hyperplane σn in the boundary layer φ.
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Inventors:
Liu
Application Number:
JP2010137026A
Publication Date:
May 07, 2014
Filing Date:
June 16, 2010
Export Citation:
Assignee:
Isuzu Motors Limited
International Classes:
G05B13/00; B60R1/00; B62D6/00; B62D101/00; B62D113/00; B62D137/00
Domestic Patent References:
| JP2002295661A | ||||
| JP378802A | ||||
| JP651839A | ||||
| JP5181537A | ||||
| JP2009208587A |
Attorney, Agent or Firm:
Naoshi Yoneyama