TY - GEN
T1 - MIMO disturbance observer for input-output decoupling with application to 4WAS vehicles
AU - Demirci, Murat
AU - Gokasan, Metin
PY - 2011
Y1 - 2011
N2 - A multi input multi output (MIMO) version of the sliding mode disturbance observer (SMDO) scheme for decoupling MIMO nonlinear uncertain systems into single input single output (SISO) systems is presented in this work. The cross-couplings between inputs and outputs, modeling and parameter uncertainties and external disturbances are treated as an extended disturbance to be attenuated by the MIMO disturbance observer. The proposed MIMO disturbance observer has been applied to the four wheel active steering (4WAS) control problem of a road vehicle which has been modeled in CarSim environment. The performances of the MIMO SMDO have also been compared to the performances of the MIMO inverse model based disturbance observer (IMDO) which is a well-known two-degrees-of-freedom disturbance observer architecture in motion control and PID control.
AB - A multi input multi output (MIMO) version of the sliding mode disturbance observer (SMDO) scheme for decoupling MIMO nonlinear uncertain systems into single input single output (SISO) systems is presented in this work. The cross-couplings between inputs and outputs, modeling and parameter uncertainties and external disturbances are treated as an extended disturbance to be attenuated by the MIMO disturbance observer. The proposed MIMO disturbance observer has been applied to the four wheel active steering (4WAS) control problem of a road vehicle which has been modeled in CarSim environment. The performances of the MIMO SMDO have also been compared to the performances of the MIMO inverse model based disturbance observer (IMDO) which is a well-known two-degrees-of-freedom disturbance observer architecture in motion control and PID control.
KW - four wheel active steering
KW - input-output decoupling
KW - MIMO disturbance observer
KW - sliding mode control
UR - https://www.scopus.com/pages/publications/80052148069
U2 - 10.1109/ICMECH.2011.5971250
DO - 10.1109/ICMECH.2011.5971250
M3 - Conference contribution
AN - SCOPUS:80052148069
SN - 9781612849836
T3 - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
SP - 90
EP - 95
BT - 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
T2 - 2011 IEEE International Conference on Mechatronics, ICM 2011
Y2 - 13 April 2011 through 15 April 2011
ER -