Sliding Mode Control of Real-Time PNU Vehicle Driving Simulator and Its Performance Evaluation

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  • LEE Min Cheol
    School of Mechanical Engineering, Pusan National University
  • PARK Min Kyu
    Electro-Mechanical Research Institute, Hyundai Heavy Industry
  • YOO Wan Suk
    School of Mechanical Engineering, Pusan National University
  • SON Kwon
    School of Mechanical Engineering, Pusan National University
  • HAN Myung Chul
    School of Mechanical Engineering, Pusan National University

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This paper introduces an economical and effective full-scale driving simulator for study of human sensibility and development of new vehicle parts and its control. Real-time robust control to accurately reappear a various vehicle motion may be a difficult task because the motion platform is the nonlinear complex system. This study proposes the sliding mode controller with a perturbation compensator using observer-based fuzzy adaptive network (FAN). This control algorithm is designed to solve the chattering problem of a sliding mode control and to select the adequate fuzzy parameters of the perturbation compensator. For evaluating the trajectory control performance of the proposed approach, a tracking control of the developed simulator named PNUVDS is experimentally carried out. And then, the driving performance of the simulator is evaluated by using human perception and sensibility of some drivers in various driving conditions.

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