Chassis Coordinated Control for Full X-by-Wire Vehicles-A Review

AbstractAn X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control. This paper aims to provide a complete and systematic survey on chassis coordinated control methods for full X-by-wire vehicles, with the primary goal of summarizing recent reserch advancements and stimulating innovative thoughts. Driving condition identification including driver's operation intention, critical vehicle states and road adhesion condition and integrated control of X-by-wire chassis subsystems constitute the main framework of a chassis coordinated control scheme. Under steering and braking maneuvers, different driving condition identification methods are described in this paper. These are the trigger conditions and the basis for the implementation of chassis coordinated control. For the vehicles equipped with steering-by-wire, braking-by-wire and/or wire-controlled-suspension systems, state-of-the-art chassis coordinated control methods are reviewed including the coordination of any two or three chassis subsystems. Finally, the development trends are discussed.

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Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331220973132 ◽

2020 ◽

pp. 014233122097313

Author(s):

Yiqi Xu

Keyword(s):

Tracking Control ◽

Closed Loop ◽

Closed Loop System ◽

Tracking Errors ◽

Attitude Tracking ◽

Control Scheme ◽

Inertia Model ◽

And Performance ◽

Attitude Tracking Control ◽

The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

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Logic-Based Switching Adaptive Control of DC-DC Buck Converter

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.229-231.2209 ◽

2012 ◽

Vol 229-231 ◽

pp. 2209-2212

Author(s):

Bao Bin Liu ◽

Wei Zhou

Keyword(s):

Adaptive Control ◽

Closed Loop ◽

Buck Converter ◽

Uncertain Parameters ◽

Small Signal ◽

Closed Loop System ◽

Unknown Parameters ◽

Signal Model ◽

Small Signal Model ◽

Control Scheme

Logic-based switching adaptive control scheme is proposed for the model of DC-DC buck converter in presence of uncertain parameters and power supply disturbance. All uncertain parameters and the disturbance are estimated together through constructing Lyapunov function. And a switching mechanism is used to ensure global asymptotic stability of the closed-loop system. The results of simulation show that even if there are multiple unknown parameters in the small-signal model, the control system of DC-DC buck converter can estimate unknown parameters quickly and accurately.

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The Adaptive Neural Control for a Class of High-Order Uncertain Stochastic Nonlinear Systems

Mathematical Problems in Engineering ◽

10.1155/2018/4620125 ◽

2018 ◽

Vol 2018 ◽

pp. 1-10

Author(s):

Xiaoyan Qin

Keyword(s):

Nonlinear Systems ◽

Neural Control ◽

Closed Loop ◽

Control Method ◽

High Order ◽

Stochastic Nonlinear Systems ◽

Closed Loop System ◽

Adaptive Neural Control ◽

Control Scheme ◽

Approximation Capability

This paper studies the problem of the adaptive neural control for a class of high-order uncertain stochastic nonlinear systems. By using some techniques such as the backstepping recursive technique, Young’s inequality, and approximation capability, a novel adaptive neural control scheme is constructed. The proposed control method can guarantee that the signals of the closed-loop system are bounded in probability, and only one parameter needs to be updated online. One example is given to show the effectiveness of the proposed control method.

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A suspension system with quasi-zero stiffness characteristics and inerter nonlinear energy sink

Journal of Vibration and Control ◽

10.1177/1077546320972904 ◽

2020 ◽

pp. 107754632097290

Author(s):

You-cheng Zeng ◽

Hu Ding ◽

Rong-Hua Du ◽

Li-Qun Chen

Keyword(s):

Integrated Control ◽

Harmonic Approximation ◽

Nonlinear Energy Sink ◽

Suspension System ◽

Degree Of Freedom ◽

System Parameters ◽

Suspension Systems ◽

Control Scheme ◽

Energy Sink ◽

Nonlinear Energy

In this article, a novel vibration control scheme of suspension systems is proposed. It combines the advantages of quasi-zero stiffness isolator, nonlinear energy sink absorber, and inerter. This proposed scheme can achieve low transmissibility, low amplitude, and low additional weight and resolve the conflict between riding comfort and handling stability. Strong nonlinear vibration equations of a quarter-vehicle suspension system are established. It also presents the detailed process of high-order harmonic approximation to obtain steady-state responses. Moreover, approximate solutions are validated by a numerical method. Furthermore, based on riding comfort and handling stability, the following four suspension systems are evaluated and compared, namely, 2-degree-of-freedom quarter-vehicle model, 2-degree-of-freedom quarter-vehicle with quasi-zero stiffness isolator, 2-degree-of-freedom quarter-vehicle with inerter-nonlinear energy sink absorber, and 2-degree-of-freedom quarter-vehicle integrated control scheme with quasi-zero stiffness and inerter-nonlinear energy sink. It is found that the integrated control scheme with quasi-zero stiffness and inerter-nonlinear energy sink can significantly improve the riding comfort and handling stability at the same time. In addition, the effects of system parameters are studied carefully. The results show that based on the reasonable design of the control system parameters, better riding comfort and handling stability can be obtained. In short, this article provides a theoretical basis for integrating quasi-zero stiffness isolators and inerter-nonlinear energy sink absorbers to improve the riding comfort and handling stability.

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Modeling and energy-based sway reduction control for tower crane systems with double-pendulum and spherical-pendulum effects

Measurement and Control ◽

10.1177/0020294019877492 ◽

2019 ◽

Vol 53 (1-2) ◽

pp. 141-150 ◽

Cited By ~ 13

Author(s):

Menghua Zhang ◽

Yongfeng Zhang ◽

Bing Ji ◽

Changhui Ma ◽

Xingong Cheng

Keyword(s):

Closed Loop ◽

Double Pendulum ◽

Control Methods ◽

Spherical Pendulum ◽

Closed Loop System ◽

Tower Crane ◽

Lyapunov Techniques ◽

Payload Mass ◽

System States ◽

Invariance Theorem

As typical underactuated systems, tower crane systems present complicated nonlinear dynamics. For simplicity, the payload swing is traditionally modeled as a single-pendulum in existing works. Actually, when the hook mass is close to the payload mass, or the size of the payload is large, a tower crane may exhibit double-pendulum effects. In addition, existing control methods assume that the hook and the payload only swing in a plane. To tackle the aforementioned practical problems, we establish the dynamical model of the tower cranes with double-pendulum and spherical-pendulum effects. Then, on this basis, an energy-based controller is designed and analyzed using the established dynamic model. To further obtain rapid hook and payload swing suppression and elimination, the swing part is introduced to the energy-based controller. Lyapunov techniques and LaSalle’s invariance theorem are provided to demonstrate the asymptotic stability of the closed-loop system and the convergence of the system states. Simulation results are illustrated to verify the correctness and effectiveness of the designed controller.

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Adaptive Stabilization Control for a Class of Complex Nonlinear Systems Based on T-S Fuzzy Bilinear Model

Mathematical Problems in Engineering ◽

10.1155/2015/659521 ◽

2015 ◽

Vol 2015 ◽

pp. 1-11 ◽

Cited By ~ 1

Author(s):

Jinsheng Xing ◽

Naizheng Shi

Keyword(s):

Adaptive Control ◽

Nonlinear Systems ◽

Complex Systems ◽

Closed Loop ◽

Loop System ◽

Asymptotically Stable ◽

Bilinear Model ◽

Closed Loop System ◽

Fuzzy Modelling ◽

Control Scheme

This paper proposes a stable adaptive fuzzy control scheme for a class of nonlinear systems with multiple inputs. The multiple inputs T-S fuzzy bilinear model is established to represent the unknown complex systems. A parallel distributed compensation (PDC) method is utilized to design the fuzzy controller without considering the error due to fuzzy modelling and the sufficient conditions of the closed-loop system stability with respect to decay rateαare derived by linear matrix inequalities (LMIs). Then the errors caused by fuzzy modelling are considered and the method of adaptive control is used to reduce the effect of the modelling errors, and dynamic performance of the closed-loop system is improved. By Lyapunov stability criterion, the resulting closed-loop system is proved to be asymptotically stable. The main contribution is to deal with the differences between the T-S fuzzy bilinear model and the real system; a global asymptotically stable adaptive control scheme is presented for real complex systems. Finally, illustrative examples are provided to demonstrate the effectiveness of the results proposed in this paper.

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Composite hierarchical anti-disturbance control for stochastic systems with multiple disturbances

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331217695385 ◽

2017 ◽

Vol 40 (6) ◽

pp. 1950-1955 ◽

Cited By ~ 1

Author(s):

Shixiang Sun ◽

Xinjiang Wei ◽

Huifeng Zhang

Keyword(s):

Disturbance Observer ◽

Closed Loop ◽

Stochastic Systems ◽

Time Derivative ◽

Closed Loop System ◽

Stochastic Disturbance ◽

Multiple Disturbances ◽

Control Scheme ◽

Bounded Disturbance ◽

White Noises

A class of stochastic systems with multiple disturbances, which includes white noises and disturbances whose time derivative is bounded, is considered in this paper. To estimate the unknown bounded disturbance, a stochastic disturbance observer is proposed. Based on the observer, a disturbance observer-based disturbance control scheme is constructed such that the composite closed-loop system is asymptotically bounded. Finally, a simulation example is given to demonstrate the feasibility and effectiveness of the proposed scheme.

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Robust attitude fault-tolerant control for unmanned autonomous helicopter with flapping dynamics and actuator faults

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331218775477 ◽

2018 ◽

Vol 41 (5) ◽

pp. 1266-1277 ◽

Cited By ~ 12

Author(s):

Kun Yan ◽

Mou Chen ◽

Qiangxian Wu ◽

Ke Lu

Keyword(s):

Closed Loop ◽

Fault Tolerant ◽

Fault Tolerant Control ◽

Loop System ◽

System Stability ◽

Actuator Faults ◽

Closed Loop System ◽

Attitude Tracking ◽

Control Scheme ◽

Autonomous Helicopter

In this paper, an adaptive robust fault-tolerant control scheme is developed for attitude tracking control of a medium-scale unmanned autonomous helicopter with rotor flapping dynamics, external unknown disturbances and actuator faults. For the convenience of control design, the actuator dynamics with respect to the tail rotor are introduced. The adaptive fault observer and robust item are employed to observe the actuator faults and eliminate the effect of external disturbances, respectively. A backstepping-based robust fault-tolerant control scheme is designed with the aim of obtaining satisfactory tracking performance and closed-loop system stability is proved via Lyapunov analysis, which guarantees the convergence of all closed-loop system signals. Simulation results are given to show the effectiveness of the proposed control method.

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A Parametric Study of the Modified Model Reference Adaptive Control Scheme

Journal of Vibration and Acoustics ◽

10.1115/1.2893902 ◽

1998 ◽

Vol 120 (3) ◽

pp. 814-821

Author(s):

H. M. Sardar ◽

M. Ahmadian

Keyword(s):

Closed Loop ◽

Simulation Analysis ◽

Adaptive Controller ◽

Loop System ◽

Closed Loop System ◽

Model Reference ◽

Modified Model ◽

Control Scheme ◽

Inertial Nonlinearities ◽

Model Reference Adaptive

The validity of the claim by many studies that the damping and stiffness forces can be ignored when designing a model reference adaptive controller, is examined. For a simple plant, the sensitivity of the closed loop system to the inertial, damping, and stiffness nonlinearities are investigated, through a simulation analysis. It is shown that the closed loop system is sensitive to the changes in the inertial nonlinearities, and relatively insensitive to variations in the damping and stiffness forces. This supports the assumption made in many previous studies.

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