Yıl: 2021 Cilt: 21 Sayı: 1 Sayfa Aralığı: 121 - 128 Metin Dili: İngilizce DOI: 10.5152/electrica.2021.20058 İndeks Tarihi: 31-05-2021

Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer

Öz:
This study presents a nonlinear observer that estimates structured and unstructured uncertainties based on a control methodology that is an adaptivebackstepping sliding mode controller to aim wheel slip tracking of a car-like robot. In the vehicle system, the scaling factor for the lengthwise force betweentire and road contact is considered as unknown, then adaptation law with Lyapunov-based analysis is derived for the unknown parameter. The lumpuncertainties estimated values that are estimated by the nonlinear disturbance observer and the scaling factor estimated values are directly applied in thecontrol input. The closed-loop system stability under the proposed controller is proven using Lyapunov’s stability analysis. Then, the adaptive backsteppingsliding mode controller's performance with the nonlinear disturbance observer is verified through simulations by comparing to the neural network (radialbasis function) observer, which is estimated as the lump uncertainties on quarter-vehicle dynamics
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Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
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APA Adiguzel F, Mumcu T (2021). Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer. , 121 - 128. 10.5152/electrica.2021.20058
Chicago Adiguzel Fatih,Mumcu Tarik Veli Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer. (2021): 121 - 128. 10.5152/electrica.2021.20058
MLA Adiguzel Fatih,Mumcu Tarik Veli Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer. , 2021, ss.121 - 128. 10.5152/electrica.2021.20058
AMA Adiguzel F,Mumcu T Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer. . 2021; 121 - 128. 10.5152/electrica.2021.20058
Vancouver Adiguzel F,Mumcu T Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer. . 2021; 121 - 128. 10.5152/electrica.2021.20058
IEEE Adiguzel F,Mumcu T "Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer." , ss.121 - 128, 2021. 10.5152/electrica.2021.20058
ISNAD Adiguzel, Fatih - Mumcu, Tarik Veli. "Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer". (2021), 121-128. https://doi.org/10.5152/electrica.2021.20058
APA Adiguzel F, Mumcu T (2021). Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer. Electrica, 21(1), 121 - 128. 10.5152/electrica.2021.20058
Chicago Adiguzel Fatih,Mumcu Tarik Veli Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer. Electrica 21, no.1 (2021): 121 - 128. 10.5152/electrica.2021.20058
MLA Adiguzel Fatih,Mumcu Tarik Veli Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer. Electrica, vol.21, no.1, 2021, ss.121 - 128. 10.5152/electrica.2021.20058
AMA Adiguzel F,Mumcu T Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer. Electrica. 2021; 21(1): 121 - 128. 10.5152/electrica.2021.20058
Vancouver Adiguzel F,Mumcu T Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer. Electrica. 2021; 21(1): 121 - 128. 10.5152/electrica.2021.20058
IEEE Adiguzel F,Mumcu T "Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer." Electrica, 21, ss.121 - 128, 2021. 10.5152/electrica.2021.20058
ISNAD Adiguzel, Fatih - Mumcu, Tarik Veli. "Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer". Electrica 21/1 (2021), 121-128. https://doi.org/10.5152/electrica.2021.20058