A vehicle ABS adaptive sliding-mode control algorithm based on the vehicle velocity estimation and tyre/road friction coefficient estimations

2014 ◽  
Vol 52 (4) ◽  
pp. 475-503 ◽  
Author(s):  
Xiangwen Zhang ◽  
Yong Xu ◽  
Ming Pan ◽  
Fenghua Ren
Keyword(s):  
Friction Coefficient ◽  
Sliding Mode Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Velocity Estimation ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Vehicle Velocity ◽  
Road Friction ◽  
Road Friction Coefficient

A direct yaw moment controller for a four in-wheel motor drive electric vehicle using adaptive sliding mode control

2019 ◽  
Vol 233 (3) ◽  
pp. 549-567 ◽  
Author(s):  
Aria Noori Asiabar ◽  
Reza Kazemi
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Regenerative Braking ◽  
Lane Change ◽  
Unknown Parameters ◽  
Vehicle Handling ◽  
Adaptive Sliding Mode ◽  
Yaw Moment

In this paper, a direct yaw moment control algorithm is designed such that the corrective yaw moment is generated through direct control of driving and braking torques of four in-wheel brushless direct current motors located at the empty space of vehicle wheels. The proposed control system consists of a higher-level controller and a lower-level controller. In the upper level of proposed controller, a PID controller is designed to keep longitudinal velocity constant in manoeuvres. In addition, due to probable modelling error and parametric uncertainties as well as adaptation of unknown parameters in control law, an adaptive sliding mode control through adaptation of unknown parameters is presented to yield the corrective yaw moment such that the yaw rate tracks the desired value and the vehicle sideslip angle maintains limited so as to improve vehicle handling stability. The lower-level controller allocates the achieved control efforts (i.e. total longitudinal force and corrective yaw moment) to driving or regenerative braking torques of four in-wheel motors so as to generate the desired tyre longitudinal forces. The additional yaw moment applied by upper-lever controller may saturate the tyre forces. To this end, a novel longitudinal slip ratio controller which is designed based on fuzzy logic is included in the lower-level controller. A tyre dynamic weight transfer-based torque distribution algorithm is employed to distribute the motor driving torque or regenerative braking torque of each in-wheel motor for vehicle stability enhancement. A seven degree-of-freedom non-linear vehicle model with Magic Formula tyre model as well as the proposed control algorithm are simulated in Matlab/Simulink software. Three steering inputs including lane change, double lane change and step-steer manoeuvres in different roads are investigated in simulation environment. The simulation results show that the proposed control algorithm is capable of improving vehicle handling stability and maintaining vehicle yaw stability.

scholarly journals Voltage Regulation of Hydro Standalone 1-Φ Micro Grid using Fuzzy Logic Based Adaptive Sliding Mode Control Algorithm

2020 ◽  
Vol 10 (2) ◽  
pp. 241-249
Keyword(s):  
Sliding Mode Control ◽  
Control Algorithm ◽  
Single Phase ◽  
Sliding Mode ◽  
Voltage Regulation ◽  
Adaptive Sliding Mode Control ◽  
Energy Sources ◽  
Solar Pv ◽  
Adaptive Sliding Mode ◽  
Mode Control

This paper presents an adaptive sliding mode control (ASMC) of an improved power quality standalone single phase microgrid system. The proposed microgrid system integrates a governor-less micro-hydro turbine driven single- phase two winding self-excited induction generator (SEIG) with a wind driven permanent magnet brushless DC (PMBLDC) generator, solar photo-voltaic (PV) array and a battery energy storage system (BESS). These renewable energy sources are integrated using only one single-phase voltage source converter (VSC). The ASMC based control algorithm is used to estimate the reference source current which controls the single-phase VSC and regulates the voltage and frequency of the microgrid in addition to harmonics current mitigation. The proposed ASMC estimates the reference real and reactive powers of the system, which is adaptive to the fluctuating loads. The sliding mode control is used to estimate the reference real power of the system to maintain the energy balance among wind, micro-hydro, solar PV power and BESS, which controls the frequency of standalone microgrid. The proposed microgrid is implemented in real time using a DSP (Digital Signal Processor) controller. Test results of proposed microgrid shows that the grid voltage and frequency are maintained constant while the system is following a sudden change in loads and under intermittent penetration of wind and solar energy sources.

scholarly journals Distributed Adaptive Sliding Mode Control for Vehicle Platoon with Uncertain Driving Resistance and Actuator Saturation

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-12 ◽  
Author(s):  
Jia-cheng Song ◽  
Yong-feng Ju
Keyword(s):  
Sliding Mode Control ◽  
Traffic Safety ◽  
Control Algorithm ◽  
Actuator Saturation ◽  
Sliding Mode ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Vehicle Platoon

Vehicle platoon has been demonstrated to be a promising driving pattern for its prominent advantages in enhancing traffic safety, improving highway capacity, and increasing fuel economy as well as reducing carbon emissions. However, the uncertain driving resistance and saturated actuator output decay the control performance and may even lead to the instability of a vehicle platoon. Therefore, a distributed adaptive sliding mode control algorithm for vehicle platoon with uncertain driving resistance and actuator saturation is proposed in this paper. First of all, sliding mode control technique, together with the coupled sliding surface (CSS) method, is adopted to design the vehicle platoon control algorithm and an adaptive updating law is proposed to estimate the unknown driving resistance coefficients. Then, for the problem of actuator saturation, an antiwindup compensation-based approach is utilized to attenuate the integral windup of the adaptive platoon control laws in the case of actuator saturation. In addition, considering the chattering problem inherent in sliding mode control, a sigmoid-like function sgn⋅ is deployed to weaken the influence of chattering, which is expected to enhance the driving comfortableness. Both theoretical analysis and numerical simulation verify the feasibility and effectiveness of the proposed vehicle platoon algorithm.

scholarly journals H∞ Time-Delayed Fractional Order Adaptive Sliding Mode Control for Two-Wheel Self-Balancing Vehicles

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Han Xue ◽  
Qionglin Fang ◽  
Jifeng Zhong ◽  
Zhe-ping Shao
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Stable State ◽  
Adaptive Sliding Mode Control ◽  
Switching Function ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
State Dependent

In this paper, a time-delayed fractional order adaptive sliding mode control algorithm is proposed for a two-wheel self-balancing vehicle system. The closed-loop system is proved based on the Lyapunov-Razumikhin function. The switching function is designed to make the system robust when facing uncertainties and external disturbances. It is designed to avoid monotonically increasing gains and can handle state-dependent uncertainties without a prior bound. The two-wheel self-balancing vehicle used in the experiment consists of a gyroscope MPU-6050 and accelerometer, a motor driving circuit composed of a motor driving chip TB6612FNG, and STM32F103x8B that is selected as the control core. The experimental results show that the time-delayed fractional order adaptive sliding mode control algorithm can make the vehicle achieve autonomous balance and quickly restore its stable state while appropriate disturbance is introduced.

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