TY  - JOUR
TI  - Adaptive Backstepping Sliding Mode Control for ABS with Nonlinear Disturbance Observer
AB  - 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
AU  - Adiguzel, Fatih
AU  - Mumcu, Tarik Veli
DO  - 10.5152/electrica.2021.20058
PY  - 2021
JO  - Electrica
VL  - 21
IS  - 1
SN  - 2619-9831
SP  - 121
EP  - 128
DB  - TRDizin
UR  - http://search/yayin/detay/416751
ER  -