scholarly journals A Fault Tolerant Vehicle Stability Control Using Adaptive Control Allocation

2018 ◽  
Author(s):  
Ozan Temiz ◽  
Melih Cakmakci ◽  
Yildiray Yildiz
Keyword(s):  
Adaptive Control ◽  
Fault Tolerant ◽  
Stability Control ◽  
Steering Wheel ◽  
Slip Angle ◽  
Control Allocation ◽  
Control Input ◽  
Allocation Strategy ◽  
Virtual Control ◽  
Yaw Stability

This paper presents an integrated fault-tolerant adaptive control allocation strategy for four wheel frive - four wheel steering ground vehicles to increase yaw stability. Conventionally, control of brakes, motors and steering angles are handled separately. In this study, these actuators are controlled simultaneously using an adaptive control allocation strategy. The overall structure consists of two steps: At the first level, virtual control input consisting of the desired traction force, the desired moment correction and the required lateral force correction to maintain driver’s intention are calculated based on the driver’s steering and throttle input and vehicle’s side slip angle. Then, the allocation module determines the traction forces at each wheel, front steering angle correction and rear steering wheel angle, based on the virtual control input. Proposed strategy is validated using a non-linear three degree of freedom reduced two-track vehicle model and results demonstrate that the vehicle can successfully follow the reference motion while protecting yaw stability, even in the cases of device failure and changed road conditions.

Stochastic Robust Hybrid Observer With Applications to Automotive Slip Angle Estimation

2014 ◽  
Author(s):  
Kaveh Merat ◽  
Hamidreza Razavi ◽  
Hassan Salarieh ◽  
Aria Alasty ◽  
Ali Meghdari
Keyword(s):  
Nonlinear Dynamic System ◽  
Stability Control ◽  
Observer Design ◽  
Slip Angle ◽  
Linear Matrix ◽  
Rollover Prevention ◽  
Yaw Stability ◽  
Noise Measurements ◽  
And Performance ◽  
System Deviation

In this article, the state estimation for Automotive Slip Angle considering the measurement noise in sensor is addressed. Real-time measurement of the slip angle is applicable to many active vehicle safety applications, such as rollover prevention and yaw stability control. As the sensors that measure slip angle directly are expensive, the method to extract slip angle from other available sensors in vehicle is considered. First from the simplified nonlinear dynamic system of vehicle, a Piecewise Affine (PWA) model with calculated uncertainties is obtained. The uncertainties are the result of nonlinear system deviation from PWA model. Then using the PWA model, a Stochastic Robust Hybrid Observer design is developed to estimate the slip angle. Design of the Observer is based on Linear Matrix Inequalities which gives bound on the estimation variance based on the sensor noise measurements. Finally, through simulation, the effectiveness and performance of this method is investigated.

Simulation Study of Vehicle Brake Stability Control on Turning Lane Based on ABS

2012 ◽  
Vol 591-593 ◽  
pp. 1916-1919
Author(s):  
Tao Yang ◽  
Dan Dan Song
Keyword(s):  
Integrated Control ◽  
Slip Rate ◽  
Stability Control ◽  
Slip Angle ◽  
Lateral Instability ◽  
Dynamic Regulation ◽  
Sinusoidal Input ◽  
Yaw Stability ◽  
Yaw Moment Control ◽  
Yaw Moment

Vehicle under braking in turn condition can easily cause lateral instability because of the centrifugal force. In this paper, the defects of ABS control methods of the vehicle under braking in turn condition were analyzed, a braking force control strategy by the integrated control of ABS and yaw moment control for vehicle cornering is presented. Based on ABS, a yaw moment controller using fuzzy control theory is designed, by controlling yaw moment of vehicle and regulating slip rate of wheels, the dynamic regulation of yaw moment in vehicle braking is realized, therefore, vehicle braking stability on turning lane is improved. A simulation is performed with it during two different conditions: step input and sinusoidal input, the results showed that the transient and steady response based on presented method is better than that of ABS only, and the presented method can effectively control the yaw rate and side slip angle synchronously, achieve good transient and steady response, lighten the burden of the driver and improve vehicle yaw stability.

Fault-tolerant control allocation of a flexible satellite with an infinite-dimensional model

2021 ◽  
pp. 095441002199127
Author(s):  
Leila Ashayeri ◽  
Ali Doustmohammadi ◽  
Farhad Fani Saberi
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
System Stability ◽  
Control Law ◽  
Control Allocation ◽  
Sliding Surface ◽  
Dimensional Model ◽  
Infinite Dimensional ◽  
Virtual Control ◽  
Control Scheme

Fault-tolerant control allocation (FTCA) strategy is proposed for attitude stabilization of a flexible satellite with actuator redundancy. The control scheme is based on the infinite-dimensional model of a flexible satellite with no discretization, so the spillover instability is eliminated. This is one of the important benefits of the proposed control scheme over the previous FTCA schemes that have been used for the flexible satellite. The proposed scheme contains two modules. The first module provides a virtual control law to meet stabilization and vibration control objectives in the presence of uncertainties and external disturbances. There is no need to implement in-domain actuators on panels to stabilize their vibration. In this module, the virtual control is designed using adaptive integral sliding mode approach where the sliding surface includes angular velocities, internal reaction torques, and nominal control for healthy system. The second module, based on fault/failure information and using a control allocation scheme, provides redistribution of the virtual control law among the available actuators. Due to simultaneous actuator faults and control constraints, there is an error between the actual virtual control and the designed control that affects the overall system stability. To eliminate this error, gain of the virtual control signal is adjusted by an adaptive updating law. The closed-loop system stability is guaranteed for small changes in a neighborhood of the sliding surface with simultaneous vibration damping. A numerical example illustrates the effectiveness of the proposed control strategy.

Model-based sensor fault detection and isolation method for a vehicle dynamics control system

2016 ◽  
Vol 231 (2) ◽  
pp. 147-160 ◽  
Author(s):  
Chenfeng Li ◽  
Hui Li ◽  
Yuzhong Chen ◽  
Honglei Dong ◽  
Xun Zhao ◽  
...  
Keyword(s):  
Control System ◽  
Fault Diagnosis ◽  
Control Strategy ◽  
Fault Tolerant ◽  
Stability Control ◽  
Lateral Acceleration ◽  
Electronic Stability Control ◽  
Steering Wheel ◽  
Sensor Fault ◽  
Yaw Rate

Conventional vehicle electronic stability control requires one steering-wheel angle sensor, one lateral acceleration sensor and one yaw rate sensor to obtain a good control performance. The control system stops working when a sensor fault is detected, which means that the vehicle runs in an unprotected state. Thus, various sensor fault diagnosis algorithms have been designed to detect and isolate the faulty sensor, but these algorithms also can be used for fault-tolerant control to preserve the safety of the vehicle. However, determining which of the different sensors is faulty is very difficult as the conventional residual comparison algorithm can only find the existence of a sensor fault but cannot locate the faulty sensor, and very few research studies have focused on this problem. In this paper, an ingenious sensor fault diagnosis algorithm is proposed. The sensor fault is detected, located and isolated by cross-checking with three different yaw rate estimates. The steering-wheel angle observer and the lateral acceleration observer are designed to provide corresponding estimated sensor signals which are employed to estimate the different yaw rates by using an extended Kalman filter. A novel decision-making process is carefully designed to locate the faulty sensor based on the different yaw rate residuals. Electronic stability control is not interrupted as the faulty sensor signal is reconfigured by the estimated signal. Experimental tests on a real car show that the proposed algorithm is efficient for detecting the sensor fault and identifying which sensor is faulty. Simulations show that the vehicle stability control strategy based on the proposed sensor fault-tolerant control algorithm has a better performance than the traditional control strategy does.

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