scholarly journals Observer-Based Coordinated Control for Blended Braking System with Actuator Delay

Actuators ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 193
Author(s):  
Wenfei Li ◽  
Huiyun Li ◽  
Chao Huang ◽  
Kun Xu ◽  
Tianfu Sun ◽  
...  
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Coordinated Control ◽  
Time Delay Estimation ◽  
Smith Predictor ◽  
Braking System ◽  
Single Output ◽  
Braking Torque ◽  
Input Time ◽  
Friction Braking System

The coordinated control of a blended braking system is always a difficult task. In particular, blended braking control becomes more challenging when the braking actuator has an input time-delay and some states of the braking system cannot be measured. In order to improve the tracking performance, a coordinated control system was designed based on the input time-delay and state observation for a blended braking system comprising a motor braking system and friction braking system. The coordinated control consists of three parts: Sliding mode control, a multi-input single-output observer, and time-delay estimation-based Smith Predictor control. The sliding mode control is used to calculate the total command braking torque according to the desired braking performance and vehicle states. The multi-input single-output observer is used to simultaneously estimate the input time-delay and output braking torque of the friction braking system. With time-delay estimation-based Smith Predictor control, the friction braking system is able to effectively track the command braking torque of the friction braking system. The tracking of command braking torque is realized through the coordinated control of the motor braking system and friction braking system. In order to validate the effectiveness of the proposed approach, numerical simulations on a quarter-vehicle braking model were performed.

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.

scholarly journals Fractional Order Adaptive Fast Super-Twisting Sliding Mode Control for Steer-by-Wire Vehicles with Time-Delay Estimation

Electronics ◽  
2021 ◽  
Vol 10 (19) ◽  
pp. 2424
Author(s):  
Yong Yang ◽  
Yunbing Yan ◽  
Xiaowei Xu
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Delay Estimation ◽  
Mode Control ◽  
Model Free ◽  
Steer By Wire

It is difficult to model and determine the parameters of the steer-by-wire (SBW) system accurately, and the perturbation is variable with complex and changeable tire–road conditions. In order to improve the control performance of the vehicle SBW system, an adaptive fast super-twisting sliding mode control (AFST-SMC) scheme with time-delay estimation (TDE) is proposed. The proposed scheme uses TDE to acquire the lumped dynamics in a simple way and establishes a practical model-free structure. Then, a fractional order (FO) sliding mode surface and a fast super-twisting sliding mode control structure were designed on the basic super-twisting sliding mode to ensure fast convergence and high control accuracy. Since the uncertain boundary information of the actual system is unknown, a novel adaptive algorithm is proposed to regulate the control gain based on the control errors. Theoretical analysis concerning system stability is given based on the Lyapunov theory. Finally, the effectiveness of the method is verified through comparative experiments. The results show that the proposed TDE-AFST-FOSMC control scheme has the advantages of model-free, fast response and high accuracy.

Control Simulations for a Stewart Platform Compensator Mounted on Moving Base

2019 ◽  
Author(s):  
Takeyuki Ono ◽  
Ryosuke Eto ◽  
Junya Yamakawa ◽  
Hidenori Murakami
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Equations Of Motion ◽  
Base Plate ◽  
Medical Application ◽  
Stewart Platform ◽  
Hybrid Controller ◽  
Resolved Acceleration Control ◽  
Moving Base ◽  
Input Time

Abstract In this paper, utilizing the analytical equations of motion for a base-moving Stewart platform, we design an active wave compensation system for a surgery table installed on the top plate of a Stewart platform in a ship. In our medical application, the base plate of a Stewart platform moves with the motion of the ship. For a base-moving Stewart platform, we presented analytical equations of motion in matrix form in the paper: IMECE2018-87253. The objective of the platform is to compensate the pitching, rolling, and heaving motions of the ship (with respect to an inertial coordinate system). As control methods for the nonlinear system, we employ a hybrid controller combining resolved acceleration control with H∞ control, and integral sliding mode control (ISMC). The ISMC with input time delay is also designed with a state predictor, which includes a ship motion predictor utilizing an autoregressive model. Finally, to assess the control performance and robustness for the system with uncertainties, numerical simulations are presented. In addition, the simulation results of the predictor based ISMC for the system with input time delay are illustrated showing the effectiveness of the controller.

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