Automatic Steering Control Strategy for Unmanned Vehicles Based on Robust Backstepping Sliding Mode Control Theory

For the purpose of anti-puncture and lightweight, a new type of mechanical elastic wheel (MEW) is constructed. However, the large radial stiffness of MEW has a negative effect on ride comfort. To make up for the disadvantage, this paper proposes a novel control strategy consisting of backstepping control and integral sliding-mode control, considering the uncertainties of active suspension and MEW. First, an active suspension system matching MEW is established, discussing the impact of uncertainties. The nonlinear radial characteristic of MEW is fitted based on the previous experiment results. Then, in order to derive ideal motions, an ideal suspension system combining sky-hook and ground-hook damping control is introduced. Next, ignoring the nonlinear characteristics and external random disturbance, a backstepping controller is designed to track ideal variables. Combined with the backstepping control law, an integral sliding-mode control strategy is given, further taking parameter uncertainty and external disturbance into account. To tackle chattering problem, an adaptive state variable matrix is applied. By using Lyapunov stability theory, the whole scheme proves to be robust and convergent. Finally, co-simulations with Carsim and MATLAB/Simulink are carried out. By analyzing the simulation results, it can be concluded that the vehicle adopting backstepping sliding-mode control performs best, with excellent real-time performance and robustness.

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Adaptive Backstepping Sliding Mode Control for Direct Driven Hydraulics

Proceedings ◽

10.3390/iecat2020-08496 ◽

2020 ◽

Vol 64 (1) ◽

pp. 1

Author(s):

Shuzhong Zhang ◽

Tianyi Chen ◽

Fuquan Dai

Keyword(s):

Sliding Mode Control ◽

Control Strategy ◽

Sliding Mode ◽

External Disturbance ◽

High Energy ◽

Hydraulic Actuator ◽

Adaptive Backstepping ◽

Mode Control ◽

Adaptive Law ◽

Backstepping Sliding Mode Control

Due to the advantages of high energy efficiency and environmental friendliness, the electro-hydraulic actuator (EHA) plays a vital role in fluid power control. One variant of EHA, double pump direct driven hydraulics (DDH), is proposed, which consists of double fixed-displacement pumps, a servo motor, an asymmetric cylinder and auxiliary components. This paper proposes an adaptive backstepping sliding mode control (ABSMC) strategy for DDH to eliminate the adverse effect produced by parametric uncertainty, nonlinear characteristics and the uncertain external disturbance. Based on theoretical analysis, the nonlinear system model is built and transformed. Furthermore, by defining the sliding manifold and selecting a proper Lyapunov function, the nesting problems (of the designed variable and adaptive law) caused by uncertain coefficients are solved. Moreover, the adaptive backstepping control and the sliding mode control are combined to boost system robustness. At the same time, the controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. Simulations of the DDH are performed with the proposed control strategy and proportional–integral–differential (PID), respectively. The results show that the proposed control strategy can achieve better position tracking and stronger robustness under parameter changing compared with PID.

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A Platoon Control Strategy for Autonomous Vehicles Based on Sliding-Mode Control Theory

IEEE Access ◽

10.1109/access.2020.2990644 ◽

2020 ◽

Vol 8 ◽

pp. 81776-81788

Author(s):

Bo Peng ◽

Dexin Yu ◽

Huxing Zhou ◽

Xue Xiao ◽

Yunfeng Fang

Keyword(s):

Control Theory ◽

Sliding Mode Control ◽

Control Strategy ◽

Autonomous Vehicles ◽

Sliding Mode ◽

Mode Control

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Adaptive Trajectory Tracking Control for Rotorcraft Using Incremental Backstepping Sliding Mode Control Strategy

International Journal of Aerospace Engineering ◽

10.1155/2021/4945642 ◽

2021 ◽

Vol 2021 ◽

pp. 1-15

Author(s):

Moon Gyeang Cho ◽

Useok Jung ◽

Jun-Young An ◽

Yoo-Seung Choi ◽

Chang-Joo Kim

Keyword(s):

Sliding Mode Control ◽

Trajectory Tracking ◽

Control Strategy ◽

Tracking Control ◽

Sliding Mode ◽

Control Design ◽

Backstepping Control ◽

Trajectory Tracking Control ◽

Mode Control ◽

Backstepping Sliding Mode Control

This paper investigates the adaptive incremental backstepping sliding mode control for the rotorcraft trajectory-tracking control problem to enhance the robustness to the matched uncertainty in the model. First, the incremental dynamics is used for the control design to exclude the adverse effect of the mismatched model uncertainties on the trajectory-tracking performance. Secondly, the sliding-mode control strategy is adopted in the second design stage of the backstepping controller, and the effect of switching gains on the controller robustness is thoroughly studied using the rotorcraft model with different levels of the matched uncertainties. To clarify the robustness enhancement using the adaptive selection of switching gains, this paper chooses three different control structures consisting of the traditional backstepping control and two backstepping sliding mode controls with the fixed or adaptively adjusted switching gains. These control designs are applied to the trajectory-tracking control for the helical-turn maneuver of the Bo-105 helicopter to compare their relative robustness to the matched uncertainties. The results prove that adaptive incremental backstepping sliding mode control shows much higher robustness than other two designs, and the controller even with the fixed switching gains can be used to improve the robustness of the pure backstepping control design. Therefore, the present adaptive incremental backstepping sliding mode control is effectively applicable with the rotorcraft model which typically contains many different sources of both matched and mismatched uncertainties.

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