Control of Antilock Braking Systems Using Disturbance Observer With a Novel Nonlinear Sliding Surface

Phadke, S. B.; Shendge, P. D.; Wanaskar, Vijayraj

doi:10.1109/tie.2019.2939990

Cited by 23 publications

(11 citation statements)

References 30 publications

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“…ALGORITHM 1: e state estimation procedure based on the UKF algorithm. 6 Mathematical Problems in Engineering e function h (•) of nonlinear observation equation for vehicle state estimation can be expressed as follows:…”

Section: E Ukf Estimator Designmentioning

confidence: 99%

“…Currently, different kinds of vehicle stability control systems have been developed to improve vehicle handling stability and driving safety. e well-known vehicle stability control technologies include the antilock braking system (ABS) [6], direct yaw moment control (DYC) [7], and active front steering (AFS) [8]. Most of them heavily depend on the knowledge of vehicle states for promoting vehicle stability control performance [9][10][11].…”

Section: Introductionmentioning

confidence: 99%

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A Modified Unscented Kalman Filter Combined with Ant Lion Optimization for Vehicle State Estimation

Zhang

Zhao

et al. 2021

Mathematical Problems in Engineering

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Accurate estimation of vehicle states is extremely crucial for vehicle stability control. As a reliable estimation methodology, the unscented Kalman filter (UKF) has been widely utilized in vehicle control. However, the estimation accuracy still needs to be improved caused by the unpredictable measurement and process noise. In this paper, a novel modified UKF state estimation methodology combined with the ant lion optimization (ALO) is proposed for the stability control of a four in-wheel motor independent drive electric vehicle (4WIDEV). First, the optimal performance of the ALO algorithm is analyzed, where both unimodal and multimodal optimization test functions are selected and optimized by GA, PSO, and ALO, respectively. The results indicate that the ALO algorithm has good global optimization capability and applicability. Second, the ALO algorithm is merged into the UKF to adjust the statistical properties of noise information for the ALOUKF estimator design without extra sensor signals. At last, the simulations on the Matlab/Simulink-CarSim co-simulation platform and the road test based on an A&D 5435 rapid prototyping experiment platform (RPP) are carried out to verify the proposed method. The simulation and experiment results demonstrate that the ALOUKF estimator can improve state estimation accuracy and resist the vehicle nonlinearity even in the case of the complicated and emergency maneuvers.

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Section: E Ukf Estimator Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Modified Unscented Kalman Filter Combined with Ant Lion Optimization for Vehicle State Estimation

Zhang

Zhao

et al. 2021

Mathematical Problems in Engineering

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“…The adaptive SMC algorithm based on the vehicle velocity estimation and tire-road friction coefficient estimations for ABS is reported in [19]. Using disturbance observer with a novel nonlinear sliding surface is seen in [20]. In [21], a grey system modeling approach for SMC is proposed for the ABS.…”

Section: Introductionmentioning

confidence: 99%

Global Sliding Mode Control for Nonlinear Vehicle Antilock Braking System

Wang

2021

IEEE Access

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In order to further improve the braking performance of the nonlinear antilock braking system (ABS), an improved global sliding mode control scheme is presented. First, a nonlinear global sliding mode surface is designed. The method can eliminate the reaching phase compared with conventional linear sliding mode surface, and guarantee the system robustness during the whole control process. Then, a novel control law is proposed to satisfy the sliding mode reaching condition, and the theoretical proof is given. Simulation results demonstrate that the proposed global sliding mode control scheme enables the wheel slip-ratio to converge to optimal value quickly with the small oscillation, and has relatively short braking distance and braking time, which is very suitable to prevent the wheel from being locked during braking. The proposed global sliding mode control scheme is verified by joint simulation using MATLAB and CarSim, and shows good braking performance when the car is driving under extreme road conditions, which indicates the effectiveness of the proposed sliding mode control scheme. INDEX TERMS Antilock braking system (ABS), global sliding mode control, braking performance, slipratio, MATLAB and CarSim HONGWEI WANG was born in Tieling, Liaoning, China, in 1983. She received the B.S. degree in electrical engineering and automation from the Liaoning University of Technology, China, in 2004 and the B.S. degree in control theory and control engineering from the Northeastern University, China, in 2006 and the Ph.D. degree in control theory and control engineering from the Northeastern University, China, in 2009. Since 2009, she is currently an assistant professor with the school of control engineering, Northeastern University at Qinhuangdao. She has published about 40 papers, including 20 journal papers and one book chapter. Her research interests include vehicle safety control, sliding mode control, intelligent control and prediction control. SHAOWEN WU is currently pursuing the B.S. degree with Northeastern University at Qinhuangdao, Qinhuangdao, Hebei, China. He works with Hongwei Wang as a Student Researcher. His current research interests include robust control and intelligent control.

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“…Testing in SiL and HiL is less expensive and provides more flexibility than ORVT and is hence popular. Yi and Chung, 3 Ataei et al, 4 Mirzaei and Mirzaeinejad, 5 Mousavi et al, 6 Miller and Cebon, 7 Wang and He 8 and Phadke et al 9 used SiL testing to evaluate brake control and WSR algorithms. Niglas 10 used HiL simulations to study the stopping performance of a vehicle and the effects of brake torque and configuration of a vehicle on the same.…”

Section: Introductionmentioning

confidence: 99%

An experimentally corroborated framework for emulating wheel lock in a heavy vehicle brake dynamometer

Challa

Singh

Ramakrushnan

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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Wheel lock in a vehicle during braking is detrimental to its safety, in addition to causing poor braking performance. Wheel slip regulation algorithms could potentially prevent wheel lock and are hence required to be tested and tuned thoroughly prior to in-vehicle deployment. Generally, software-in-the-loop and hardware-in-the-loop tests are explored before on-road vehicle testing. A brake dynamometer can potentially be utilized for wheel slip regulation testing, and this can be placed in between hardware-in-the-loop tests and on-road vehicle testing. Prior to evaluation of wheel slip regulation on a brake dynamometer, it is imperative to realize a wheel lock scenario. This work proposes a methodical framework for emulating wheel lock in a brake dynamometer. In this study, the dynamic effects during braking, particularly load transfer, wheel slip and tyre–road interactions, are subsumed into a single variable termed ‘equivalent inertia’ to replicate a wheel lock event. The variations of this variable were captured through extensive tests on a hardware-in-the-loop platform that consists of a pneumatic brake setup interfaced with IPG TruckMaker® co-simulated with MATLAB/Simulink®, across varying load, road and braking conditions. Equivalent inertia profiles thus generated were then realized in the brake dynamometer, via mechanical discs and electrical inertia. Angular speed profiles from hardware-in-the-loop and dynamometer tests were compared to corroborate the framework. A close correlation between the profiles, highlighted by the root mean square deviation of the order of 100 rad/s, established the effectiveness of the proposed scheme.

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Control of Antilock Braking Systems Using Disturbance Observer With a Novel Nonlinear Sliding Surface

Cited by 23 publications

References 30 publications

A Modified Unscented Kalman Filter Combined with Ant Lion Optimization for Vehicle State Estimation

A Modified Unscented Kalman Filter Combined with Ant Lion Optimization for Vehicle State Estimation

Global Sliding Mode Control for Nonlinear Vehicle Antilock Braking System

An experimentally corroborated framework for emulating wheel lock in a heavy vehicle brake dynamometer

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