Adaptive backstepping sliding mode control for wheel slip tracking of vehicle with uncertainty observer

Abstract

The wheel slip tracking control is the basis of automatic braking control systems, and the accurate tracking for the desired wheel slip in the presence of lumped uncertainty is a vital guarantee of automatic braking control systems reliable operation. Therefore, an adaptive backstepping sliding mode control approach with radial basis function neural network is proposed to design the nonlinear robust wheel slip controller based on a quarter-vehicle model with lumped uncertainty. The radial basis function neural network as the uncertainty observer can effectively reduce the chattering of sliding mode by estimating the lumped uncertainty, and the adaptive law for the unknown weight vector of radial basis function neural network is derived by Lyapunov-based method. The influence of changes in tire sideslip angle and camber angle on the tire -road friction coefficient acts as an unknown scaling factor, and the adaptive law for the unknown scaling factor is derived via Lyapunov-based method. Then, the performance of the proposed controller is verified through simulations of various maneuvers on a full-vehicle dynamics simulation software.

Nonlinear Backstepping Control of Electro-Hydraulic Brake System Based on Bond Graph Model

“…In fact, the backstepping method has been presented for the control of vehicle active suspensions and hybrid electric vehicle induction motors, and the results have confirmed the improved ride comfort of the passengers [25], [26].…”

“…The controller is composed of the SMC ABS Step input of target brake pressure. algorithm, which is described in equations (24) and (25), and the brake-pressure controller proposed in this paper. The SMC ABS algorithm monitors the vehicle speed v and the wheel speed ω from the vehicle model, and generates the desired brake pressure P WC_desired when the wheel begins to slip.…”

Trajectory planning and tracking control for autonomous parallel parking of a non-holonomic vehicle

“…The parallel parking in one maneuver is implemented under the conditions that the length and width of the parking space are set to the minimum length and the minimum width of the parking space and the coordinate of the starting point is set to [4,3]. The simulation results are shown in Figure 13.…”

Robust adaptive anti-windup wheel slip tracking control for intelligent vehicle with fast terminal sliding mode observer

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