Design and simulation of the sliding mode controller for the vehicle blow-out process control

Mo, Taiping; Zhang, Xiangwen; Fan, Kefeng; Mo, Wei; Qiu, Yaqin

doi:10.1504/ijvs.2013.056967

Cited by 8 publications

(6 citation statements)

References 4 publications

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“…There are two drive-only topologies, which feature either an allwheel drive topology [106,107] or the wheel-individual all-wheel drive topology mentioned above. A brake-only topology using wheel-individual brakes at all wheels is encountered as well [64,72,92,122,143,147,178,185,188,200]. For these topologies, steering angles act as system parameters or as disturbance if a steering actuators are mentioned but not actively used, cf.…”

Section: Actuator Topologiesmentioning

confidence: 99%

“…Lateral vehicle dynamics -i. e., yaw and lateral motionare the second most encountered control target in the surveyed literature. They are considered in 48 publications addressing actuator degradations [34, 38, 46, 49, 57, 59, 61, 62, 65-68, 71, 72, 76, 80, 81, 87, 89, 93, 95, 96, 99, 100, 108, 111-116, 119-122, 132-134, 147-149, 155, 159-161, 164, 165, 171] and six addressing tire blowouts [178,183,[185][186][187][188]. In contrast, the reviewed approaches seldom target pure longitudinal dynamics [45,106,107,123,124,143].…”

Section: A Control Targetsmentioning

confidence: 99%

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Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Stolte

2021

Preprint

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The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional redundancies among the actuators, is one means to achieve the required degree of fault tolerance. Therefore, we give a comprehensive overview of the state of the art in actuator fault-tolerant vehicle motion control with a focus on drive, brake, and steering degradations, as well as tire blowouts. This review shows that actuator fault-tolerant vehicle motion is a widely studied field; yet, the presented approaches differ with respect to many aspects. To provide a starting point for future research, we survey the employed actuator topologies, the tolerated degradations, the presented control approaches, as well as the experiments conducted for validation. Overall, and despite the large number of different approaches, the covered literature reveals the potential of increasing fault tolerance by fault-tolerant vehicle motion control. Thus, besides developing novel approaches or demonstrating real-time applicability, future research should aim at investigating limitations and enabling comparison of fault-tolerant motion control approaches in order to allow for a thorough safety argumentation.

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Section: Actuator Topologiesmentioning

confidence: 99%

Section: A Control Targetsmentioning

confidence: 99%

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Stolte

2021

Preprint

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“…Due to the complexity of the system, it is a very challenging task to come up with an optimum distribution strategy among the three inflated tires. Instead, similar to the technique used for stabilizing the vehicle motion in a straight line in [23], a predetermined torque contribution is assigned for each of the wheels excluding the deflated tire. The blown tire is not allowed to apply torque to prevent wheel locking.…”

Section: Controller Designmentioning

confidence: 99%

A Nonlinear Tire Blowout Stabilizer Based on a Novel Integral Terminal Sliding Mode Controller

Al-Quran

Mayyas

2021

IEEE Access

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This paper proposes an automatic corrective safety controller design and evaluation based on braking/traction actuation to enhance the stability of a ground vehicle subjected to a tire blowout. Along with the nonlinear Dugoff's tire model, a nonlinear planar seven degrees of freedom control-oriented vehicle model is developed and validated using MSC Adams/ car package. The proposed novel controloriented model accounts for the longitudinal dynamics, large steering and slip angles, and the nonlinearities associated with the vehicle/tire coupled system. In consequence, a distributive torque control technique in the framework of the integral terminal sliding mode controller is established. The integral action is employed in the sliding surfaces to enhance the steady-state tracking performance of the closed-loop system. The controller distributes the control torque demand among the three inflated tires excluding the blown tire to counteract the blowout-induced yawing disturbance. Two control strategies are introduced to facilitate controller practical implementation in both electric and conventional vehicles. The results indicate that the proposed controller is perfectly competent to stabilize the vehicle and robustly track the desired trajectory in a straight line and curvilinear motions as well as under nonlinear operating conditions. INDEX TERMS Tire blowout, vehicle dynamics, stability control, ITSMC.

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“…Compared to other methods, sliding mode control (SMC) has attractive superiorities of robustness to overcome uncertainties and disturbance as well as insensitivity to the system parametric variations. In [30], Mo et al, offered a sliding mode controller for guaranteeing vehicle stability after tire blowout with differential braking method based on improved vehicle system model. However, because of the linear sliding mode surface used, system states in traditional SMC scheme cannot converge to the equilibrium point in finite time.…”

Section: Literature Reviewmentioning

confidence: 99%

RBFNN based terminal sliding mode adaptive control for electric ground vehicles after tire blowout on expressway

Yang

Yue

Liu

et al. 2020

Applied Soft Computing

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This paper proposes a radial basis function neural network (RBFNN) based terminal sliding mode control scheme for electric ground vehicles subject to tire blowout on expressway in presence of tire nonlinearities, unmodeled dynamics and external disturbances. For enhancing the longitudinal and lateral stability of the vehicle after tire blowout, a saturated velocity planner is firstly constructed for tracking the original motion trajectory, by which the longitudinal velocity and yaw rate saturation constraints can be effectively handled. Afterwards, a terminal sliding mode controller (TSMC) is designed for tracking the planned velocity signals because of its inherent finite time convergence rate and superior steady-state property, by which the adverse dynamic behaviors can be timely suppressed. Further, to strengthen the adaptability and robustness of the control scheme, a RBFNN approximator is developed for identifying the lumped uncertainty, such as tire nonlinearities, unmodeled dynamics and external disturbances, etc., and then compensated into the controller. Lastly, simulations with front-right tire blowout on expressway are performed to validate the effectiveness and efficiency of presented control scheme and methods, and the comprehensive performance of TSMC+RBFNN and TSMC schemes in maintaining original trajectory tracking capacity is evaluated and discussed.

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Design and simulation of the sliding mode controller for the vehicle blow-out process control

Cited by 8 publications

References 4 publications

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

A Nonlinear Tire Blowout Stabilizer Based on a Novel Integral Terminal Sliding Mode Controller

RBFNN based terminal sliding mode adaptive control for electric ground vehicles after tire blowout on expressway

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