An optimal path tracking architecture for automated vehicle

2019 ◽  
Vol 233 (9) ◽  
pp. 2352-2361 ◽  
Author(s):  
Zhiting Liu ◽  
Xiaofei Pei ◽  
Zhenfu Chen ◽  
Zhou Wei ◽  
Bo Yang
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Optimal Path ◽  
Path Tracking ◽  
Feedback Controller ◽  
Vehicle Speed ◽  
Automated Vehicle ◽  
Varying Time Delay ◽  
Feedforward Controller ◽  
Target Path

Nowadays, automated vehicle has attracted a lot of attention with the advantages of safety, comfort, and efficiency. This paper presents a path tracking architecture synthesizing a preview feedforward controller and an adaptive sliding mode feedback controller. First, the vehicle dynamics model and the geometric relationship between the target path and vehicle are described. Then, the feedforward controller is designed based on the multipoint preview, which could reduce the interference of road curvature and time delay of vehicle actuator. Subsequently, the feedback controller utilizing adaptive discrete sliding mode is proposed considering the robustness in different conditions. It has a few control parameters, fast convergence, and small stationary error of the direction and lateral distance. Eventually, real-time simulation results show that the automated vehicle could track the target path accurately under varying time delay, vehicle speed, and road adhesion. Furthermore, vehicle experiment results verify the effectiveness of path tracking.

scholarly journals Performance Analysis of the Sliding Mode Control for Automated Vehicle Path Tracking at Low Adhesion Surfaces

2019 ◽  
Vol 296 ◽  
pp. 01003
Author(s):  
Ilya Kulikov ◽  
Ivan Ulchenko
Keyword(s):  
Vehicle Dynamics ◽  
Sliding Mode ◽  
Path Tracking ◽  
Difficult Case ◽  
Sliding Modes ◽  
Lateral Control ◽  
Automated Vehicle ◽  
Vehicle Motion ◽  
Vehicle Path ◽  
The Ideal

The article analyses prospects of using a type of robust controllers called relay regulators for automation of vehicle lateral motion. The operation of these regulators in so-called sliding modes is considered along with the “chattering” problem caused by deviations from the “ideal” sliding mode inevitable in actual implementations. For the analysis of vehicle motion, a mathematical model was elaborated, which calculates vehicle dynamics taking into account non-linear tire-road adhesion characteristics. In the conducted study, emphasis was put on low adhesion surfaces, which can be considered as the most difficult case for automatic lateral control of a vehicle. In order to implement automated path tracking within the model, two relay regulators were elaborated differing from one another in the order of dynamics. A comparative study of these regulators was conducted by means of simulations. The regulator that had shown best performance was then tested for robustness by means of modeling, in which maneuvers on snow, ice and a mixed surface were simulated.

scholarly journals Adaptive Synchronization Control of Multiple Vessels with Switching Communication Topologies and Time Delay

2015 ◽  
Vol 2015 ◽  
pp. 1-11
Author(s):  
Fuguang Ding ◽  
Yanqin Ma ◽  
Yuanwei Zhou ◽  
Jiangjun Li
Keyword(s):  
Communication Network ◽  
Time Delay ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Tracking Error ◽  
Movement Control ◽  
Adaptive Synchronization ◽  
Synchronization Control ◽  
External Disturbances ◽  
Varying Time Delay

Recently, synchronization movement control of multiple vessels has been studied broadly. In most of the studies, the communication network among vessels is considered to be fixed and the time delay is often ignored. However, the communication network among vessels maybe vary because of switching of different tasks, and the time delay is necessary to be considered when the communication network is unreliable. In this paper, the synchronization movement of multiple vessels with switching connected communication topologies is studied, and an adaptive synchronization control algorithm that is based on backstepping sliding mode control is proposed. The control algorithm is achieved by defining cross coupling error which is combination of the trajectory tracking error and velocity tracking error. And an adaptive control term is used to estimate the external disturbances, so that the unknown external disturbances can be compensated. Furthermore, the robustness of the control law to time-varying time delay is also discussed. At last, some simulations are carried out to validate the effectiveness of the proposed synchronization control algorithm.

scholarly journals Research on Model Predictive Control for Automobile Active Tilt Based on Active Suspension

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 671
Author(s):  
Jialing Yao ◽  
Meng Wang ◽  
Zhihong Li ◽  
Yunyi Jia
Keyword(s):  
Load Transfer ◽  
Ride Comfort ◽  
Active Suspension ◽  
Path Tracking ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Model Predictive Controller ◽  
Advantages And Disadvantages ◽  
Predictive Controller

To improve the handling stability of automobiles and reduce the odds of rollover, active or semi-active suspension systems are usually used to control the roll of a vehicle. However, these kinds of control systems often take a zero-roll-angle as the control target and have a limited effect on improving the performance of the vehicle when turning. Tilt control, which actively controls the vehicle to tilt inward during a curve, greatly benefits the comprehensive performance of a vehicle when it is cornering. After analyzing the advantages and disadvantages of the tilt control strategies for narrow commuter vehicles by combining the structure and dynamic characteristics of automobiles, a direct tilt control (DTC) strategy was determined to be more suitable for automobiles. A model predictive controller for the DTC strategy was designed based on an active suspension. This allowed the reverse tilt to cause the moment generated by gravity to offset that generated by the centrifugal force, thereby significantly improving the handling stability, ride comfort, vehicle speed, and rollover prevention. The model predictive controller simultaneously tracked the desired tilt angle and yaw rate, achieving path tracking while improving the anti-rollover capability of the vehicle. Simulations of step-steering input and double-lane change maneuvers were performed. The results showed that, compared with traditional zero-roll-angle control, the proposed tilt control greatly reduced the occupant’s perceived lateral acceleration and the lateral load transfer ratio when the vehicle turned and exhibited a good path-tracking performance.

Speed regulation control of tractors’ new dual-flow transmission system based on slip rate resistance classification

2021 ◽  
pp. 095440702110105
Author(s):  
Guang Xia ◽  
Yan Xia ◽  
Xiwen Tang ◽  
Linfeng Zhao ◽  
Baoqun Sun
Keyword(s):  
Control Strategy ◽  
Control Algorithm ◽  
Production Efficiency ◽  
Sliding Mode ◽  
Slip Rate ◽  
Speed Control ◽  
Working Environment ◽  
Vehicle Speed ◽  
Speed Change ◽  
Simulation Results

Fluctuations in operation resistance during the operating process lead to reduced efficiency in tractor production. To address this problem, the project team independently developed and designed a new type of hydraulic mechanical continuously variable transmission (HMCVT). Based on introducing the mechanical structure and transmission principle of the HMCVT system, the priority of slip rate control and vehicle speed control is determined by classifying the slip rate. In the process of vehicle speed control, the driving mode of HMCVT system suitable for the current resistance state is determined by classifying the operation resistance. The speed change rule under HMT and HST modes is formulated with the goal of the highest production efficiency, and the displacement ratio adjustment surfaces under HMT and HST modes are determined. A sliding mode control algorithm based on feedforward compensation is proposed to address the problem that the oil pressure fluctuation has influences on the adjustment accuracy of hydraulic pump displacement. The simulation results of Simulink show that this algorithm can not only accurately follow the expected signal changes, but has better tracking stability than traditional PID control algorithm. The HMCVT system and speed control strategy models were built, and simulation results show that the speed control strategy can restrict the slip rate of driving wheels within the allowable range when load or road conditions change. When the tractor speed is lower than the lower limit of the high-efficiency speed range, the speed change law formulated in this paper can improve the tractor speed faster than the traditional rule, and effectively ensure the production efficiency. The research results are of great significance for improving tractor’s adaptability to complex and changeable working environment and promoting agricultural production efficiency.

Design of an Automated Vehicle Speed Detector and Surveillance System for Bangladesh

2020 ◽  
Author(s):  
Mohammad Rabeul Hasan ◽  
Hasan al Banna ◽  
Md Rayhan ◽  
Shafayat Hossain ◽  
Md. Iquebal Hossain Patwary ◽  
...  
Keyword(s):  
Surveillance System ◽  
Vehicle Speed ◽  
Automated Vehicle

scholarly journals A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 54
Author(s):  
Minh-Thien Tran ◽  
Dong-Hun Lee ◽  
Soumayya Chakir ◽  
Young-Bok Kim
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Unmanned Aerial Vehicle ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Mode Control ◽  
Ducted Fan ◽  
Control Scheme ◽  
Aerial Vehicle

This article proposes a novel adaptive super-twisting sliding mode control scheme with a time-delay estimation technique (ASTSMC-TDE) to control the yaw angle of a single ducted-fan unmanned aerial vehicle system. Such systems are highly nonlinear; hence, the proposed control scheme is a combination of several control schemes; super-twisting sliding mode, TDE technique to estimate the nonlinear factors of the system, and an adaptive sliding mode. The tracking error of the ASTSMC-TDE is guaranteed to be uniformly ultimately bounded using Lyapunov stability theory. Moreover, to enhance the versatility and the practical feasibility of the proposed control scheme, a comparison study between the proposed controller and a proportional-integral-derivative controller (PID) is conducted. The comparison is achieved through two different scenarios: a normal mode and an abnormal mode. Simulation and experimental tests are carried out to provide an in-depth investigation of the performance of the proposed ASTSMC-TDE control system.

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