Yaw Stability Control for 6WD Unmanned Vehicle on Split-mu Road Using Sliding Mode Algorithm

2021 ◽  
Author(s):  
Kang Shu ◽  
Biao Liu ◽  
Jiangshuai Huang ◽  
Tingting Gao
Keyword(s):  
Sliding Mode ◽  
Stability Control ◽  
Unmanned Vehicle ◽  
Yaw Stability

A Review on Integrated Active Steering and Braking Control for Vehicle Yaw Stability System

2014 ◽  
Vol 71 (2) ◽  
Author(s):  
M.K. Aripin ◽  
Y. M. Sam ◽  
A. D. Kumeresan ◽  
M.F. Ismail ◽  
Peng Kemao
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Sliding Mode ◽  
Stability Control ◽  
Yaw Rate ◽  
Active Steering ◽  
Yaw Stability ◽  
Stability Control System ◽  
Review Study ◽  
Braking Control

A review study on integrated active steering and braking control for vehicle yaw stability system is conducted and its finding is discussed in this paper. For road-vehicle dynamic, lateral dynamic control is important in order to determine the vehicle stability. The aw stability control system is the prominent approach for vehicle lateral dynamics where the actual yaw rate and sideslip should be tracked by the controller close to the desired response. To improve the performance of yaw stability control during steady state and critical driving conditions, a current approach using active control of integrated steering and braking could be implemented. This review study discusses the vehicle models, control objectives, control problems and propose control strategies for vehicle yaw stability control system. In the view of control system engineering, the transient performances of tracking control are essential. Based on the review, this paper discusses a basic concept of control strategy based on the composite nonlinear feedback (CNF) and sliding mode control (SMC) whichcan be proposed for integrated active steering and braking control in order to improve the transient performances of the yaw rate and sideslip tracking control in the presence of uncertainties and disturbances.

scholarly journals An Adaptive Nonsingular Fast Terminal Sliding Mode Control for Yaw Stability Control of Bus Based on STI Tire Model

2021 ◽  
Vol 34 (1) ◽  
Author(s):  
Xiaoqiang Sun ◽  
Yujun Wang ◽  
Yingfeng Cai ◽  
Pak Kin Wong ◽  
Long Chen
Keyword(s):  
Optimal Allocation ◽  
Sliding Mode ◽  
Design Method ◽  
Longitudinal Force ◽  
Stability Control ◽  
Tire Model ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Yaw Stability ◽  
Simulation Results

AbstractDue to the bus characteristics of large quality, high center of gravity and narrow wheelbase, the research of its yaw stability control (YSC) system has become the focus in the field of vehicle system dynamics. However, the tire nonlinear mechanical properties and the effectiveness of the YSC control system are not considered carefully in the current research. In this paper, a novel adaptive nonsingular fast terminal sliding mode (ANFTSM) control scheme for YSC is proposed to improve the bus curve driving stability and safety on slippery roads. Firstly, the STI (Systems Technologies Inc.) tire model, which can effectively reflect the nonlinear coupling relationship between the tire longitudinal force and lateral force, is established based on experimental data and firstly adopted in the bus YSC system design. On this basis, a more accurate bus lateral dynamics model is built and a novel YSC strategy based on ANFTSM, which has the merits of fast transient response, finite time convergence and high robustness against uncertainties and external disturbances, is designed. Thirdly, to solve the optimal allocation problem of the tire forces, whose objective is to achieve the desired direct yaw moment through the effective distribution of the brake force of each tire, the robust least-squares allocation method is adopted. To verify the feasibility, effectiveness and practicality of the proposed bus YSC approach, the TruckSim-Simulink co-simulation results are finally provided. The co-simulation results show that the lateral stability of bus under special driving conditions has been significantly improved. This research proposes a more effective design method for bus YSC system based on a more accurate tire model.

scholarly journals An adaptive nonsingular fast terminal sliding mode control for yaw stability control of bus based on STI tire model

2020 ◽  
Author(s):  
xiaoqiang Sun ◽  
Yujun Wang ◽  
Yingfeng Cai ◽  
PakKin Wong ◽  
Long Chen
Keyword(s):  
Optimal Allocation ◽  
Sliding Mode ◽  
Lateral Force ◽  
Longitudinal Force ◽  
Stability Control ◽  
Tire Model ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Yaw Stability ◽  
Tire Forces

Abstract In this paper, a novel adaptive nonsingular fast terminal sliding mode (ANFTSM) control scheme for yaw stability control (YSC) is proposed to improve the bus curve driving stability and safety on slippery roads. There are three major contributions in the design process of the bus YSC system. The first contribution is that the STI (Systems Technologies Inc.) tire model, which can effectively reflect the coupling relationship between the tire longitudinal force and lateral force, is established based on experimental data and firstly adopted in the bus YSC system design. The second contribution is a novel YSC strategy based on ANFTSM, which has the merits of fast transient response, finite time convergence and high robustness against uncertainties and external disturbances. The third contribution is that the robust least-squares allocation method is used to solve the optimal allocation problem of the tire forces, whose objective is to achieve the desired direct yaw moment through the effective distribution of the brake force of each tire. To verify the feasibility, effectiveness and practicality of the proposed bus YSC approach, the TruckSim-Simulink co-simulation results are finally provided.

scholarly journals A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

2014 ◽  
Vol 2014 ◽  
pp. 1-15 ◽  
Author(s):  
M. K. Aripin ◽  
Yahaya Md Sam ◽  
Kumeresan A. Danapalasingam ◽  
Kemao Peng ◽  
N. Hamzah ◽  
...  
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Dynamic Models ◽  
Sliding Mode ◽  
Stability Control ◽  
Composite Nonlinear Feedback ◽  
Vehicle Handling ◽  
Yaw Rate ◽  
Yaw Stability ◽  
Stability Control System

Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies with the focus on identifying suitable criteria for improved transient performances. Each element is discussed and compared in terms of their underlying theory, strengths, weaknesses, and applicability. Based on this, we conclude that the sliding mode control with nonlinear sliding surface based on composite nonlinear feedback is a potential control strategy for improving the transient performances of yaw rate and sideslip tracking control.

scholarly journals An adaptive nonsingular fast terminal sliding mode control for yaw stability control of bus based on STI tire model

2020 ◽  
Author(s):  
Xiaoqiang Sun ◽  
Yujun Wang ◽  
Yingfeng Cai ◽  
PakKin Wong ◽  
Long Chen
Keyword(s):  
Optimal Allocation ◽  
Sliding Mode ◽  
Lateral Force ◽  
Longitudinal Force ◽  
Stability Control ◽  
Tire Model ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Yaw Stability ◽  
Tire Forces

Abstract In this paper, a novel adaptive nonsingular fast terminal sliding mode (ANFTSM) control scheme for yaw stability control (YSC) is proposed to improve the bus curve driving stability and safety on slippery roads. There are three major contributions in the design process of the bus YSC system. The first contribution is that the STI (Systems Technologies Inc.) tire model, which can effectively reflect the coupling relationship between the tire longitudinal force and lateral force, is established based on experimental data and firstly adopted in the bus YSC system design. The second contribution is a novel YSC strategy based on ANFTSM, which has the merits of fast transient response, finite time convergence and high robustness against uncertainties and external disturbances. The third contribution is that the robust least-squares allocation method is used to solve the optimal allocation problem of the tire forces, whose objective is to achieve the desired direct yaw moment through the effective distribution of the brake force of each tire. To verify the feasibility, effectiveness and practicality of the proposed bus YSC approach, the TruckSim-Simulink co-simulation results are finally provided.

scholarly journals Yaw stability control of automated guided vehicle under the condition of centroid variation

2021 ◽  
Author(s):  
Wei Liu ◽  
Qingjie Zhang ◽  
Yidong Wan ◽  
Ping Liu ◽  
Yue Yu ◽  
...  
Keyword(s):  
Sliding Mode ◽  
Stability Control ◽  
Theory Model ◽  
Vehicle Body ◽  
Maximum Deviation ◽  
Automated Guided Vehicle ◽  
Steering Control ◽  
Sideslip Angle ◽  
Low Speed ◽  
Yaw Stability

Abstract The centroid of an automated guided vehicle changes due to the irregular position and unbalanced weight of the merchandises on the load platform, which affects the completion of the handling task between stations in intelligent factories. This paper presents a hierarchical control strategy to improve yaw stability considering centroid variation. Firstly, the vehicle body and hub motor models are established based on dynamics. Secondly a hierarchical controller is designed by using the method of extension theory, model predictive control (MPC) and sliding mode control. Then based on CarSim and Simulink, the step co-simulation of the low-speed condition of the automated guided vehicle is carried out. Compared with the uncontrolled condition, the maximum deviation of the yaw rate is reduced from 0.58 rad/s to 0.52 rad/s, and the error with the theoretical value is reduced from 16% to 4%; the maximum deviation of the centroid sideslip angle is reduced from -0.84 rad to -0.77 rad, and the error with the theoretical value is reduced from 12% to 3%. Finally, a four-wheel drive and four-wheel steering automated guided vehicle is manufactured to carry out inter station steering experiments in simulated factory environment. The error between simulation and experiment is less than 5%. The results show that the designed controller is effective, and the research can provide theoretical and experimental basis for the low-speed steering control stability of automated guided vehicle.

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