scholarly journals Trajectory Tracking Control of Intelligent Electric Vehicles Based on the Adaptive Spiral Sliding Mode

2021 ◽  
Vol 11 (24) ◽  
pp. 11739
Author(s):  
Yanxin Nie ◽  
Minglu Zhang ◽  
Xiaojun Zhang
Keyword(s):  
Electric Vehicles ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Lateral Deviation ◽  
Distribution Method ◽  
Tire Force ◽  
Tracking Model ◽  
Vehicle Trajectory

Aiming at the multi-objective control problem of the tracking effect and vehicle stability in the process of intelligent vehicle trajectory tracking, a coordinated control strategy of the trajectory tracking and stability of intelligent electric vehicles is proposed based on the hierarchical control theory. The vehicle dynamics model and trajectory tracking model are established. In order to tackle the chattering problem in the traditional sliding mode controller, an Adaptive Spiral Sliding Mode controller is designed by taking the derivative of the controller as the upper controller, which is intended to reduce the heading deviation and lateral deviation in the trajectory tracking process whilst ensuring the stability of the vehicle itself. In the lower controller, a four-wheel tire force optimal distribution method is designed. According to the requirements of the upper controller, combined with the yaw stability of the vehicle, the directional control distribution of the four-wheel tire force is realized. A joint simulation model was built based on CarSim and Simulink, and simulation experiments were performed. The results show that the proposed control strategy can effectively control the heading deviation and lateral deviation in the vehicle trajectory tracking while ensuring the lateral stability of the vehicle.

scholarly journals Development, Dynamic Modeling, and Multi-Modal Control of a Therapeutic Exoskeleton for Upper Limb Rehabilitation Training

Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 3611 ◽  
Author(s):  
Qingcong Wu ◽  
Hongtao Wu
Keyword(s):  
Dynamic Modeling ◽  
Upper Limb ◽  
Trajectory Tracking ◽  
Control Strategy ◽  
Sliding Mode ◽  
Human Robot Interaction ◽  
Sliding Mode Controller ◽  
Modal Control ◽  
Cooperative Training ◽  
Passive Training

Robot-assisted training is a promising technology in clinical rehabilitation providing effective treatment to the patients with motor disability. In this paper, a multi-modal control strategy for a therapeutic upper limb exoskeleton is proposed to assist the disabled persons perform patient-passive training and patient-cooperative training. A comprehensive overview of the exoskeleton with seven actuated degrees of freedom is introduced. The dynamic modeling and parameters identification strategies of the human-robot interaction system are analyzed. Moreover, an adaptive sliding mode controller with disturbance observer (ASMCDO) is developed to ensure the position control accuracy in patient-passive training. A cascade-proportional-integral-derivative (CPID)-based impedance controller with graphical game-like interface is designed to improve interaction compliance and motivate the active participation of patients in patient-cooperative training. Three typical experiments are conducted to verify the feasibility of the proposed control strategy, including the trajectory tracking experiments, the trajectory tracking experiments with impedance adjustment, and the intention-based training experiments. The experimental results suggest that the tracking error of ASMCDO controller is smaller than that of terminal sliding mode controller. By optimally changing the impedance parameters of CPID-based impedance controller, the training intensity can be adjusted to meet the requirement of different patients.

scholarly journals Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

2021 ◽  
Vol 12 (1) ◽  
pp. 42
Author(s):  
Kun Yang ◽  
Danxiu Dong ◽  
Chao Ma ◽  
Zhaoxian Tian ◽  
Yile Chang ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Torque Control ◽  
Wheel Load ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Load Rate ◽  
The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

Event-triggered integral sliding mode fixed time control for trajectory tracking of autonomous underwater vehicle

2021 ◽  
pp. 014233122199438
Author(s):  
Bo Su ◽  
Hongbin Wang ◽  
Ning Li
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Fixed Time ◽  
Underwater Vehicle ◽  
Reference Trajectory ◽  
Integral Sliding Mode ◽  
Time Control ◽  
Event Triggered

In this paper, an event-triggered integral sliding mode fixed-time control method for trajectory tracking problem of autonomous underwater vehicle (AUV) with disturbance is investigated. Initially, the global fixed time stability is ensured with conventional periodic sampling method for reference trajectory tracking. By introducing fixed time integral sliding mode manifold, fixed time control strategy is expressed for the AUV, which can effectively eliminate the singularity. Correspondingly, in order to reduce the damage caused by chattering phenomenon, an adaptive fixed-time method is proposed based on the designed continuous integral terminal sliding mode (ITSM) to ensure that the trajectory tracking for AUV is achieved in fixed-time with external disturbance. In order to reduce resource consumption in the process of transmission network, the event-triggered sliding mode control strategy is designed which condition is triggered by an event. Also, Zeno behavior is avoided by proof of theoretical. It is shown that the upper bounds of settling time are only dependent on the parameters of controller. Theoretical analysis and simulation experiment results show that the presented methods can realize the control object.

scholarly journals A New Control Strategy for Bi-directional DC/DC Converter in DC Microgrid

2021 ◽  
Vol 233 ◽  
pp. 01051
Author(s):  
Tianze Miao ◽  
Xiaona Liu ◽  
Siyuan Liu ◽  
Lihua Wang
Keyword(s):  
Steady State ◽  
Control Strategy ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Response Speed ◽  
Fast Response ◽  
Sliding Mode Controller ◽  
Exponential Approximation ◽  
Dc Microgrid ◽  
Simulation Results

The bi-directional DC / DC converter in DC microgrid is a typical nonlinear system which has large voltage disturbance during lead accumulator charging and discharging. In order to solve the problem of voltage disturbance, the linearization of the converter is realized by exact feedback linearization, and the sliding mode controller is designed by using exponential approximation law. The simulation results show that the method has fast response speed, strong anti-interference ability and good steady-state characteristics.

scholarly journals A sliding mode algorithm for antilock braking/traction control of EVs

2015 ◽  
Vol 18 (3) ◽  
pp. 174-182 ◽  
Author(s):  
Minh Ngoc Vu ◽  
Minh Cao Ta
Keyword(s):  
Electric Vehicles ◽  
Driving Force ◽  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Control Performance ◽  
Slip Ratio ◽  
Traction Control ◽  
Road Condition ◽  
Wheel Model

This paper presents a slip suppression controller using sliding mode control method for electric vehicles which aims to improve the control performance of Evs in both driving and braking mode. In this method, a sliding mode controller is designed to obtain the maximum driving force by suppressing the slip ratio. The numerical simulations for one wheel model under variations in mass of vehicle and road condition are performed and demonstrated to show the effectiveness of the proposed method.

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