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控制理论与应用 2012
Adaptive and variable structure control with sliding mode for tractor-aircraft system
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Abstract:
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.