Sliding mode controller and flatness based set-point generator for a three wheeled narrow vehicle

Abstract

This paper presents a sliding mode Controller for a narrow tilting three wheeled vehicle. A dynamic model of eighteenth order is presented for simulation purposes only. Design and analysis are based on a simpler third order model of a bicycle. The validity of this simpli cation is veri ed through simulations. Because of the flatness of the bicycle, trajectories given by a presumed driver are rede ned to take into account the limits of the vehicle stability. Finally, tilting and speed controllers are designed in the frame of sliding modes. Analytical and simulation results performed in the simpler and complex model respectively validate these designs.