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The common sliding mode direct yaw moment control schemes for electric vehicles possess fixed controller parameters. In this paper, a new sliding mode direct yaw moment control scheme with two adaptive controller parameters is proposed, in order to enhance the system robustness against uncertainties and disturbances. A simple two-degree-of-freedom bicycle model is used for controller design, and a...
This paper presents a new adaptive control scheme for vehicle planar motion control with fast parameter estimation in moderate maneuvers in real-time. The parameters to be estimated include vehicle mass and yaw moment of inertia, which are important to the control systems for lightweight vehicles (LWVs) whose mass and yaw moment of inertia values change substantially with payload variations. A traditional...
Friction effects are complex, strongly nonlinear phenomena for the description of which various models of numerous independent parameters have been developed in the past decades. Normally they simply have to be compensated in control systems in which they appear as undesired perturbations. In other tasks as acceleration/deceleration of wheeled vehicles they are key factors determining the limits of...
Tire-road friction coefficient information is of critical importance for vehicle dynamic control such as yaw stability control, trajectory tracking control, and rollover prevention for both manned and unmanned applications. Existing tire-road friction coefficient estimation approaches often require certain levels of vehicle longitudinal and/or lateral motion excitations (e.g. accelerating, decelerating,...
This paper presents a 9-degree of freedom (DOF) vehicle model combined with a closed loop driver model for the purpose of developing vehicle lateral control. The driver model was developed to control the steering angle and uses the lookup table path as a reference for the control input. The proposed outer-loop controller structure for the driver model is a combination of proportional gain control...
Heading tracking is a key technology in the navigation of the intelligent vehicle. The two degrees of freedom vehicle dynamic model is established for nonholonomic vehicles in this paper. Combining the traditional fuzzy control and classical PID control theory, a controller based on self-tuning fuzzy-PID is designed, which employs the heading tracking error e and the rate of change ec as its input...
In this paper, a new type vehicle with four wheel independent steering (4WIS) and four wheel independent driving (4WID) travelling mechanism is designed. Under careful analysis of the advantages and disadvantages of both the mechanical and electrical features, the design of platform is discussed. Besides, a corresponding control structure is addressed. Under the Co-simulation using ADAMS and MATLAB/Simulink,...
This work studies the combination of active front steering with rear torque vectoring actuators in an integrated controller to guarantee vehicle stability/trajectory tracking. Adaptive feedback technique has been used to design the controller. The feedback linearization is applied to cancel the nonlinearities in the input-output dynamics, leading to closed-loop dynamics diffeomorphic to a linear system...
Artificial neural networks are used to estimate side slip angle and yaw rate of a vehicle's lateral dynamics. The networks are adapted to varying operating conditions such as a shift in vehicle weight, a change in road surface, and a radical change in tire characteristics. The structure and characteristics of the networks used are detailed. The methods for both offline and online training are described...
Neural Network-adaptive Control Algorithm is pointed out according to the non-linear characteristic for the semi-active suspension of automobiles and at the same time the recognition device and controller have been designed.The results of the simulation research on the 1/4 variable rigidity air suspension show that neural network self- adaptive controlled semi-active air suspension has an apparent...
Although the conventional PID controller is widely used, there has been limited success in the yaw moment control of the vehicle with obvious nonlinearities. This paper presents a controller based on self-tuning fuzzy PID to improve vehicle handling and stability simultaneously. The controller contains a conventional PID controller and fuzzy controller which could tune the parameters of PID controller...
This paper investigates integrated vehicle dynamics control through coordinating active suspension system (ASS) and electronic stability program (ESP) in order to improve the overall vehicle performance including handling, stability, and comfort. A two-layer hierarchical control architecture is proposed to integrated control of the two chassis control systems. The upper layer controller is designed...
Direct yaw moment control generated by differential friction forces on an axle has been proved to be effective in improving vehicle lateral yaw stability and in enhancing handling performance. It consists of two levels of control tasks: calculating a yaw moment command at vehicle level and regulating the tire slip to deliver the moment at wheel level. Advanced powertrain with electrical in-wheel-motor...
This paper describes a vehicle stability control (VSC) system using a yaw inertia and mass independent adaptive control law. As a primary vehicle active control system, VSC can significantly improve vehicle driving safety for passenger cars and enhance trajectory tracking accuracy for other applications such as autonomous, surveillance, and wheeled mobile robot vehicles. For the designs of vehicle...
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