%0 Journal Article
%T Adaptive and variable structure control with sliding mode for tractor-aircraft system<br>牵引车–飞机系统的自适应滑模变结构控制
%A ZHOU Li-jie
%A WANG Neng-jian
%A ZHANG De-fu
%A <br>周丽杰
%A 王能建
%A 张德福
%J 控制理论与应用
%D 2012
%I 
%X For a tractor-aircraft system, we propose a new active four-wheel steering control strategy, in which the lateral displacement and the relative yaw angle are taken as the feedback signals. Considering the lateral and yaw motions of the tractor as well as the aircraft and taking the articulated angle into account, we derive a nonlinear dynamic model of the tractor-aircraft system. The lateral tire stiffness of the tractor and the aircraft are considered as the bounded uncertain parameters, and the crosswind is taken as the unknown external disturbance; the tractor steering controllers are designed by using the adaptive and variable structure control with sliding mode method. Simulation results show that the front and rear steering controllers effectively control the trajectory-tracking with a good steering stability and reduce the impacts from parameter perturbations and external disturbance.
%K tractor
%K trajectory tracking
%K steering stability
%K adaptive and variable structure control with sliding mode<br>牵引车
%K 轨迹跟踪
%K 操纵稳定性
%K 自适应滑模变结构控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=C8C3724E4E2B01E654DDA326D0026407&yid=99E9153A83D4CB11&vid=771469D9D58C34FF&iid=E158A972A605785F&sid=2A2AA8B7E19F0DF7&eid=D45762219109E903&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0