Emergency Avoidance Control System for an Automatic Vehicle – Slip Ratio Control Using Sliding Mode Control and Real-Number-Coded Immune Algorithm –

2015 ◽  
Vol 27 (6) ◽  
pp. 645-652 ◽  
Author(s):  
Masafumi Hamaguchi ◽  
◽  
Takao Taniguchi
Keyword(s):  
Sliding Mode Control ◽  
Real Number ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Linear Interpolation ◽  
Immune Algorithm ◽  
Transport Systems ◽  
Slip Ratio ◽  
Mode Control ◽  
Data Points

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/06.jpg"" width=""300"" /> Vehicle behavior in emergency avoidance</div>The automotive industry facilitates research and development on intelligent transport systems. One area researched intensively to enhance passenger safety is the prevention of collisions by controlling steering and braking precisely. In this study, we assume that an automatic vehicle travelling on a highway is on a collision course with an obstacle. The purpose of this research is combining steering and braking to find a set of operations the vehicle can follow to avoid the projected collision. To do this, we propose slip ratio control using sliding mode control using a real-number-coded immune algorithm (IA). CarSim (produced by Mechanical Simulation Company) provides full vehicle dynamics with 27 degrees of freedom adopted as a vehicle model. Operation waveforms are generated by linear interpolation through designated data points. The IA, which is a coded real-number expression, is used to determine data points. Our proposal's efficiency is verified through emergency avoidance simulation using CarSim. Simulation results demonstrate operation that keeps tires from skidding using slip ratio control and halting the vehicle in the shortest braking distance possible.

Fuzzy Sliding Mode Control of Robotic Manipulators With Kinematic and Dynamic Uncertainties

2012 ◽  
Vol 134 (6) ◽  
Author(s):  
Haitao Liu ◽  
Tie Zhang
Keyword(s):  
Fuzzy Logic ◽  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
Mode Control ◽  
Control Scheme ◽  
Adaptive Fuzzy Logic ◽  
Fuzzy Sliding Mode ◽  
Dynamic Uncertainties

Sliding mode control is a very attractive control scheme with strong robustness to structured and unstructured uncertainties as well as to external disturbances. In this paper, a robust fuzzy sliding mode controller, which is combined with an adaptive fuzzy logic system, is proposed to improve the control performance of the robotic manipulator with kinematic and dynamic uncertainties. In this controller, the sliding mode control is employed to improve the control accuracy and the robustness of the robotic manipulator, and the fuzzy logic control is adopted to approximate various uncertainties and to eliminate the chattering without the help of any prior knowledge of system uncertainties. The effectiveness of the proposed controller is then verified by the simulations on a 2-DOF (degrees of freedom) robotic manipulator and the experiments on an SCARA robot with four degrees of freedom. Simulated and experimental results indicate that the proposed controller is effective in the robust tracking of the robotic manipulator with kinematic and dynamic uncertainties.

Sliding Mode Control for Hexacopter Stabilization with Motor Failure

2016 ◽  
Vol 28 (6) ◽  
pp. 936-948 ◽  
Author(s):  
Yi Yang ◽  
◽  
Wei Wang ◽  
Daisuke Iwakura ◽  
Akio Namiki ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Linear Constraints ◽  
Control Input ◽  
Linear Quadratic ◽  
Mode Control ◽  
Integral Controller ◽  
Quadratic Integral ◽  
Comparative Results

[abstFig src='/00280006/18.jpg' width='300' text='Hovering with 5 rotors' ] This study presents a fault-tolerance approach for hexacopters with failed propulsion systems (i.e., motors and propellers) using sliding mode control theory. In this study, we use an explicit control allocation method with linear constraints for allocating the control input to redundancy actuators, as well as a new sliding model controller designed to stabilize the attitude and maintain the basic flight performance of a vehicle with a single failed motor during an outdoor autonomous flight mission. An asymmetrical motor rotation arrangement is applied in order to ensure controllability for all degrees of freedom. We verify the developed system on a real hexacopter suffering propulsion-system failure. Finally, the comparative results between the linear-quadratic-integral controller and model reference sliding mode controller are presented to evaluate the robustness of each controller against the failure of redundancy actuators.

445 Frequency-Shaped Sliding Mode Control for a Nonlinear Multi Degrees of Freedom Structure

2005 ◽  
Vol 2005 (0) ◽  
pp. _445-1_-_445-6_
Author(s):  
Junichi HINO ◽  
Toshio Abe ◽  
Toshio YOSHIMURA ◽  
Masao Kurimoto
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mode Control
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