Steering and velocity tracking of a tilting three-wheeled vehicle using sliding mode control

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.

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