scholarly journals HOSM Controller Using PI Sliding Manifold for an Integrated Active Control for Wheeled Vehicles

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Antonio Navarrete Guzmán ◽  
Claudia Carolina Vaca García ◽  
Stefano Di Gennaro ◽  
Cuauhtémoc Acosta Lúa
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
Stability Theorem ◽  
Lateral Velocity ◽  
Ground Vehicle ◽  
Yaw Rate ◽  
Parameter Variations ◽  
Sliding Manifold ◽  
The Stability ◽  
Wheeled Vehicles

This study considers the design of a modified high-order sliding mode (HOSM) controller using a PI sliding surface to the attitude control of a ground vehicle. A robust-modified HOSM controller is derived, so that the lateral velocity and yaw rate tracks the desired trajectory despite the environment actions acting on the ground vehicle and parameter variations. The stability is guaranteed with Lyapunov’s stability theorem function. The performance of the dynamic controllers is evaluated using the CarSim simulator considering a challenging double steer maneuver.

An adaptive sliding mode controller for the lateral control of articulated long vehicles

2018 ◽  
Vol 233 (3) ◽  
pp. 487-515 ◽  
Author(s):  
Naser Esmaeili ◽  
Reza Kazemi ◽  
S Hamed Tabatabaei Oreh
Keyword(s):  
High Speed ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Lane Change ◽  
Lateral Velocity ◽  
Low Speed ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Articulated Vehicle ◽  
The Stability

Today, use of articulated long vehicles is surging. The advantages of using large articulated vehicles are that fewer drivers are used and fuel consumption decreases significantly. The major problem of these vehicles is inappropriate lateral performance at high speed. The articulated long vehicle discussed in this article consists of tractor and two semi-trailer units that widely used to carry goods. The main purpose of this article is to design an adaptive sliding mode controller that is resistant to changing the load of trailers and measuring the noise of the sensors. Control variables are considered as yaw rate and lateral velocity of tractor and also first and second articulation angles. These four variables are regulated by steering the axles of the articulated vehicle. In this article after developing and verifying the dynamic model, a new adaptive sliding mode controller is designed on the basis of a nonlinear model. This new adaptive sliding mode controller steers the axles of the tractor and trailers through estimation of mass and moment of inertia of the trailers to maintain the stability of the vehicle. An articulated vehicle has been exposed to a lane change maneuver based on the trailer load in three different modes (low, medium and high load) and on a dry and wet road. Simulation results demonstrate the efficiency of this controller to maintain the stability of this articulated vehicle in a low-speed steep steer and high-speed lane change maneuvers. Finally, the robustness of this controller has been shown in the presence of measurement noise of the sensors. In fact, the main innovation of this article is in the designing of an adaptive sliding mode controller, which by changing the load of the trailers, in high-speed and low-speed maneuvers and in dry and wet roads, has the best performance compared to conventional sliding mode and linear controllers.

scholarly journals Anti-Disturbance Control for Quadrotor UAV Manipulator Attitude System Based on Fuzzy Adaptive Saturation Super-Twisting Sliding Mode Observer

2020 ◽  
Vol 10 (11) ◽  
pp. 3719
Author(s):  
Ran Jiao ◽  
Wusheng Chou ◽  
Yongfeng Rong ◽  
Mingjie Dong
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Control Approach ◽  
Quadrotor Uav ◽  
The Stability ◽  
The Impact ◽  
Fuzzy Adaptive

Aerial operation with unmanned aerial vehicle (UAV) manipulator is a promising field for future applications. However, the quadrotor UAV manipulator usually suffers from several disturbances, such as external wind and model uncertainties, when conducting aerial tasks, which will seriously influence the stability of the whole system. In this paper, we address the problem of high-precision attitude control for quadrotor manipulator which is equipped with a 2-degree-of-freedom (DOF) robotic arm under disturbances. We propose a new sliding-mode extended state observer (SMESO) to estimate the lumped disturbance and build a backstepping attitude controller to attenuate its influence. First, we use the saturation function to replace discontinuous sign function of traditional SMESO to alleviate the estimation chattering problem. Second, by innovatively introducing super-twisting algorithm and fuzzy logic rules used for adaptively updating the observer switching gains, the fuzzy adaptive saturation super-twisting extended state observer (FASTESO) is constructed. Finally, in order to further reduce the impact of sensor noise, we invite a tracking differentiator (TD) incorporated into FASTESO. The proposed control approach is validated with effectiveness in several simulations and experiments in which we try to fly UAV under varied external disturbances.

scholarly journals Robust Wheel Slip for Vehicle Anti-lock Braking System with Fuzzy Sliding Mode Controller (FSMC)

2020 ◽  
Vol 10 (5) ◽  
pp. 6368-6373
Author(s):  
S. Latreche ◽  
S. Benaggoune
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Closed Loop System ◽  
Wheel Slip ◽  
Ground Vehicle ◽  
Strongly Nonlinear ◽  
Braking System ◽  
Fuzzy Sliding Mode ◽  
The Stability ◽  
New Strategies

Anti-lock Braking System (ABS) is used in automobiles to prevent slipping and locking of wheels after the brakes are applied. Its control is a rather complicated problem due to its strongly nonlinear and uncertain characteristics. The aim of this paper is to investigate the wheel slip control of the ground vehicle, comprising two new strategies. The first strategy is the Sliding Mode Controller (SMC) and the second one is the Fuzzy Sliding Mode Controller (FSMC), which is a combination of fuzzy logic and sliding mode, to ensure the stability of the closed-loop system and remove the chattering phenomenon introduced by classical sliding mode control. The obtained simulation results reveal the efficiency of the proposed technique for various initial road conditions.

Coordination strategy between AFS and ASB with fault-tolerant mechanism for ground vehicle

2020 ◽  
pp. 095440701989614
Author(s):  
Pi Dawei ◽  
Yan Mingshuai ◽  
Liu Yulong ◽  
Liu Yahui
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Fuzzy Rule ◽  
Middle Layer ◽  
Front Wheel ◽  
Sigmoid Function ◽  
Ground Vehicle ◽  
Active Steering ◽  
Prototype Test ◽  
The Stability

In order to improve the performance of ground vehicle equipped with the active front-wheel steering and active stabilizer bar, the coordination for the two systems has been researched. A layered functional framework is proposed: the upper controller coordinates yaw motion with a designed Fuzzy proportional–integral–derivative controller algorithm correcting the outputs of active front-wheel steering and active stabilizer bar; for the middle subsystems, an ideal steering ratio is designed with the Sigmoid function to achieve the active steering, and a sliding mode algorithm is designed to reduce the roll angle; the bottom actuators achieve the control target from the middle layer. In addition, the upper layer has a rebuilt fuzzy rule-based fault-tolerant mechanism that handles the failure of stabilizer bar actuators to guarantee the stability of roll and yaw motion. Finally, the simulation and rapid-control-prototype test for step steering show that the designed algorithm can ensure roll and yaw performance. In consideration of the accidental failure of active stabilizer bar actuators, by actively adjusting the coordinated rules, the system could overcome the contradiction of coupling control and still maintain yaw and roll stability, which improves the active safety.

Design of a Robust Yaw Rate Controller Using Sliding Mode Control and Extended State Observer for Navigation of an Autonomous Ground Vehicle

2018 ◽  
Author(s):  
Suraj Shamrao Borate ◽  
Shubhashisa Sahoo ◽  
Devika K. Baby ◽  
Shankar C. Subramanian ◽  
Kiran K. Mangrulkar
Keyword(s):  
Friction Coefficient ◽  
Sliding Mode ◽  
State Observer ◽  
Operating Conditions ◽  
Extended State Observer ◽  
Unmodeled Dynamics ◽  
Parametric Uncertainties ◽  
Extended State ◽  
Ground Vehicle ◽  
Yaw Rate

This paper deals with tracking of desired yaw rate generated by the path planner of an Autonomous Ground Vehicle (AGV) in the presence of unmodeled dynamics, changes in operating conditions and parametric uncertainties. A mathematical model considering the dynamics of the test vehicle and the steering actuator was used for controller design. The estimate of the unknown part of dynamics, called the total disturbance, obtained from the Extended State Observer (ESO) was used by Sliding Mode Controller (SMC) to compensate the actual total disturbance. It was observed that the lower bound on the SMC switching gain depends on the ratio of total disturbance estimation error and assumed known part of the system dynamics. This allows the choice of a low value of SMC switching gain, which in turn resulted in reduced chattering amplitude. Further attenuation in chattering was achieved using a saturation function. After simulating the designed controller in MATLAB-SIMULINK environment, the controller was validated in IPG: CarMaker® simulation platform over a large operating range by changing the mass distribution of the vehicle, speed of the vehicle, cornering stiffness of the tire and terrain friction coefficient. A look-up table was formulated for the maximum achievable yaw rate at different speeds, i.e., from 5 to 20 m/s, given the maximum steering angle input considering rollover and slip threshold while the terrain friction coefficient was also varied from 0.2 to 0.8. It was observed that the designed controller was robust to changes in operating conditions, parametric uncertainties and unmodeled dynamics.

scholarly journals Attitude Control with Auxiliary Structure Based on Adaptive Dynamic Programming for Reentry Vehicles

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-19
Author(s):  
Xu Li ◽  
Zhongtao Cheng ◽  
Bo Wang ◽  
Yongji Wang ◽  
Lei Liu
Keyword(s):  
Dynamic Programming ◽  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
Adaptive Dynamic Programming ◽  
Selection Strategy ◽  
Adaptive Dynamic ◽  
Time Scale Separation ◽  
Reentry Vehicles ◽  
The Stability

This paper presents an attitude control scheme combined with adaptive dynamic programming (ADP) for reentry vehicles with high nonlinearity and disturbances. Firstly, the nonlinear attitude dynamics is divided into inner and outer loops according to the time scale separation and the cascade control principle, and a general sliding mode control method is employed to construct the main controllers for the double loops. Considering the shortage of main controllers in handling nonlinearity and sudden disturbances, an ADP structure is introduced into the outer attitude loop as an auxiliary. And the ADP structure utilizes neural network estimators to minimize the cost function and generate optimal signals through online learning, so as to compensate defect of the main controllers’ adaptability speed and accuracy. Then, the stability is analyzed by the Lyapunov method, and the parameter selection strategy of the ADP structure is derived to guide implementation. In addition, this paper puts forward skills to speed up ADP training. Finally, simulation results show that the control strategy with ADP possesses stronger adaptability and faster response than that without ADP for the nonlinear vehicle system.

A Unifying Characterization of Robust Sliding Mode Control: A Lyapunov Approach

2000 ◽  
Vol 122 (4) ◽  
pp. 708-718 ◽  
Author(s):  
R. A. DeCarlo ◽  
S. V. Drakunov ◽  
Xiaoqiu Li
Keyword(s):  
Lyapunov Function ◽  
Sliding Mode ◽  
Control Strategies ◽  
Time Derivative ◽  
Quadratic Lyapunov Function ◽  
State Dependent ◽  
Parameter Variations ◽  
Sliding Manifold ◽  
Nonlinear Plant

This paper sets forth general conditions on the existence, boundedness, and proper gains of a control for stabilizing a nonlinear plant state trajectory to a sliding manifold denoted by S contained in the state space as characterized by a smooth quadratic Lyapunov function, V. To state such conditions we define a time-varying (possibly discontinuous in time) state-dependent decision manifold by considering the time-derivative of the quadratic Lyapunov function. The decision manifold disconnects the control space. At each instant of time, stability is achieved by choosing a control in an appropriate half space defined by the decision manifold so that the derivative of the Lyapunov function is negative definite. If the decision manifold moves continuously, then there is no need for a discontinuous (classical VSC) controller unless robustness in the presence of matched disturbances is desired. If the decision manifold is discontinuous, then the need for a discontinuous control is clear. The formulation unifies the various VSC control strategies found in the literature under a single umbrella and suggests new structures. The formulation also provides a simple geometric understanding of the effect of norm bounded but not necessarily matched disturbances and parameter variations on the system. Two examples illustrate the design aspects of the formulation. [S0022-0434(00)02904-X]

scholarly journals Attitude and Vibration Control of Flexible Spacecraft Using Singular Perturbation Approach

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Morteza Shahravi ◽  
Milad Azimi
Keyword(s):  
Singular Perturbation ◽  
Vibration Control ◽  
Time Scale ◽  
Attitude Control ◽  
Sliding Mode ◽  
Flexible Spacecraft ◽  
Perturbation Approach ◽  
Elastic Mode ◽  
Sliding Manifold ◽  
Slow Subsystem

This paper addresses a composite two-time-scale control system for simultaneous three-axis attitude maneuvering and elastic mode stabilization of flexible spacecraft. By choosing an appropriate time coordinates transformation system, the spacecraft dynamics can be divided into double time-scale subsystems using singular perturbation theory (SPT). Attitude and vibration control laws are successively designed by considering a time bandwidths separation between the oscillatory flexible parts motion describing a fast subsystem and rigid body attitude dynamics as a slow subsystem. A nonlinear quaternion feedback control, based on modified sliding mode (MSM), is chosen for attitude control design and a strain rate feedback (SRF) scheme is developed for suppression of vibrational modes. In the attitude control law, the modification to sliding manifold for slow subsystem ensures that the spacecraft follows the shortest possible path to the sliding manifold and highly reduces the switching action. Stability proof of the overall closed-loop system is given via Lyapunov analysis. The proposed design approach is demonstrated to combine excellent performance in the compensation of residual flexible vibrations for the fully nonlinear system under consideration, as well as computational simplicity.

Adaptive Sliding Mode Spacecraft Attitude Control

2014 ◽  
Author(s):  
Yizhou Wang ◽  
Xu Chen ◽  
Masayoshi Tomizuka
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
Spacecraft Attitude ◽  
Control Analysis ◽  
External Disturbances ◽  
Parameter Adaptation ◽  
Adaptive Sliding Mode ◽  
Sliding Manifold ◽  
Adaptation Law ◽  
Velocity Tracking

An adaptive sliding mode spacecraft attitude controller is derived in this paper. It has the advantage of not requiring knowledge of the inertia of the spacecraft, and rejecting unexpected external disturbances, with global asymptotic position and velocity tracking. The sliding manifold is designed using optimal control analysis of the quaternion kinematics. The sliding mode control law and the parameter adaptation law are designed using Lyapunov stability. Numerical simulations are performed to demonstrate both the nominal and the robust performance.

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