dc.contributor.author | El Hajjami, Lhoussain | |
dc.contributor.author | Mellouli, El Mehdi | |
dc.contributor.author | Žuraulis, Vidas | |
dc.contributor.author | Berrada, Mohammed | |
dc.contributor.author | Boumhidi, Ismail | |
dc.date.accessioned | 2023-09-18T16:27:08Z | |
dc.date.available | 2023-09-18T16:27:08Z | |
dc.date.issued | 2023 | |
dc.identifier.issn | 2076-3417 | |
dc.identifier.uri | https://etalpykla.vilniustech.lt/handle/123456789/114096 | |
dc.description.abstract | In this paper, a novel adaptive sliding mode controller (SMC) was designed based on a robust law considering disturbances and uncertainties for autonomous ground vehicle (AGV) longitudinal dynamics. The robust law was utilized in an innovative method involving the upper bounds of disturbances and uncertainties. Estimating this lumped uncertainty upper limit based on a neural network approach allowed its online knowledge. It guided the controller to withstand the disturbance and to compensate for the uncertainties. A stability analysis, according to Lyapunov, was completed to confirm the asymptotic convergence of the states to the desired state. The effectiveness and benefits of the planned approach were scrutinized by simulations and comparative studies. | eng |
dc.format | PDF | |
dc.format.extent | p. 1-15 | |
dc.format.medium | tekstas / txt | |
dc.language.iso | eng | |
dc.relation.isreferencedby | Science Citation Index Expanded (Web of Science) | |
dc.relation.isreferencedby | INSPEC | |
dc.relation.isreferencedby | DOAJ | |
dc.relation.isreferencedby | Scopus | |
dc.rights | Laisvai prieinamas internete | |
dc.source.uri | https://www.mdpi.com/2076-3417/13/1/501 | |
dc.source.uri | https://talpykla.elaba.lt/elaba-fedora/objects/elaba:150731839/datastreams/MAIN/content | |
dc.title | A robust intelligent controller for autonomous ground vehicle longitudinal dynamics | |
dc.type | Straipsnis Web of Science DB / Article in Web of Science DB | |
dcterms.accessRights | This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/
4.0/). | |
dcterms.license | Creative Commons – Attribution – 4.0 International | |
dcterms.references | 46 | |
dc.type.pubtype | S1 - Straipsnis Web of Science DB / Web of Science DB article | |
dc.contributor.institution | Sidi Mohamed Ben Abdellah University | |
dc.contributor.institution | Vilniaus Gedimino technikos universitetas | |
dc.contributor.faculty | Transporto inžinerijos fakultetas / Faculty of Transport Engineering | |
dc.subject.researchfield | T 003 - Transporto inžinerija / Transport engineering | |
dc.subject.studydirection | E12 - Transporto inžinerija / Transport engineering | |
dc.subject.vgtuprioritizedfields | TD0101 - Autonominis sausumos ir oro transportas / Autonomous land and air transport | |
dc.subject.ltspecializations | L106 - Transportas, logistika ir informacinės ir ryšių technologijos (IRT) / Transport, logistic and information and communication technologies | |
dc.subject.en | autonomous ground vehicles | |
dc.subject.en | robust adaptive SMC | |
dc.subject.en | vehicle longitudinal dynamics | |
dc.subject.en | neural-network-based control | |
dcterms.sourcetitle | Applied sciences: Special issue: Advances in vehicle dynamics and road safety: Technologies, simulations and applications | |
dc.description.issue | iss. 1 | |
dc.description.volume | vol. 13 | |
dc.publisher.name | MDPI | |
dc.publisher.city | Basel | |
dc.identifier.doi | 000909269000001 | |
dc.identifier.doi | 10.3390/app13010501 | |
dc.identifier.elaba | 150731839 | |