Direct Yaw-Moment Control Integrated With Wheel Slip Regulation for Heavy Commercial Road Vehicles

Patil, Harshal; Devika, K. B.; Vivekanandan, Gunasekaran; Sivaram, Sriram; Subramanian, Shankar C.

doi:10.1109/access.2022.3186981

Cited by 6 publications

(4 citation statements)

References 25 publications

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“…This control strategy enables the system to maintain stability in different operating modes, thus showing adaptability to system parameter changes and external perturbations. In addition, sliding mode control is robust to system nonlinearities and uncertainties, making it suitable for complex and variable engineering systems [33].…”

Section: Integral Sliding Mode Yaw Moment Controllermentioning

confidence: 99%

Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car

Liu,

Li,

Bai

et al. 2024

WEVJ

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In order to improve the yaw stability of a front-wheel dual-motor-driven driverless vehicle, a yaw stability control strategy is proposed for a front-wheel dual-motor-driven formula student driverless racing car. A hierarchical control structure is adopted to design the upper torque distributor based on the integral sliding mode theory, which establishes a linear two-degree-of-freedom model of the racing car to calculate the expected yaw angular velocity and the expected side slip angle and calculates the additional yaw moments of the two front wheels. The lower layer is the torque distributor, which optimally distributes the additional moments to the motors of the two front wheels based on torque optimization objectives and torque distribution rules. Two typical test conditions were selected to carry out simulation experiments. The results show that the driverless formula racing car can track the expected yaw angular velocity and the expected side slip angle better after adding the yaw stability controller designed in this paper, effectively improving driving stability.

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Section: Integral Sliding Mode Yaw Moment Controllermentioning

confidence: 99%

Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car

Liu,

Li,

Bai

et al. 2024

WEVJ

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“…Yaw stability control is of important significance for ensuring vehicle safety [5]. To promote the rapid development of four-wheel-drive vehicles, many scholars have carried out related research on improving their yaw stability, such as PID control [6,7], sliding mode control [8,9], adaptive control [10,11], neural network control [12,13], model predictive control (MPC) [14,15], and other methods. Among them, the MPC can make local optimization adjustments at each time step and obtain optimal control input.…”

Section: Introductionmentioning

confidence: 99%

Yaw Stability Control of Unmanned Emergency Supplies Transportation Vehicle Considering Two-Layer Model Predictive Control

Tang,

Zhang,

Wang

et al. 2024

Actuators

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The transportation of emergency supplies is characterized by real-time, urgent, and non-contact, which constitute the basic guarantee for emergency rescue and disposal. To improve the yaw stability of the four-wheel-drive unmanned emergency supplies transportation vehicle (ESTV) during operation, a two-layer model predictive controller (MPC) method based on a Kalman filter is proposed in this paper. Firstly, the dynamics model of the ESTV is established. Secondly, the improved Sage–Husa adaptive extended Kalman filter (SHAEKF) is used to decrease the impact of noise on the ESTV system. Thirdly, a two-layer MPC is designed for the yaw stability control of the ESTV. The upper-layer controller solves the yaw moment and the front wheel steering angle of the ESTV. The lower-layer controller optimizes the torque distribution of the four tires of the ESTV to ensure the self-stabilization of the ESTV operation. Finally, analysis and verification are carried out. The simulation results have verified that the improved SHAEKF can decrease the state estimation error by more than 78% and achieve the noise reduction of the ESTV state. Under extreme conditions of high velocity and low adhesion, the average relative error is within 6.77%. The proposed control method can effectively prevent the instability of the ESTV and maintain good yaw stability.

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“…A direct yaw moment control algorithm based on sliding mode control is developed, incorporating inertial delay control (Gang and Lin-Yan, 2022; Patil et al , 2021). To achieve directional stability for heavy commercial road vehicles, a robust reaching law-based sliding mode controller is proposed, considering the combined effects of cornering and emergency braking (Patil et al , 2022). Robust H∞ control based on the Takagi–Sugeno fuzzy is presented to address nonlinear challenges and ensure vehicle performance (Liang et al , 2023).…”

Section: Introductionmentioning

confidence: 99%

Coordinated torque control for enhanced steering and stability of independently driven mobile robots

Wang,

Wang

2024

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Purpose Mobile robots with independent wheel control face challenges in steering precision, motion stability and robustness across various wheel and steering system types. This paper aims to propose a coordinated torque distribution control approach that compensates for tracking deviations using the longitudinal moment generated by active steering. Design/methodology/approach Building upon a two-degree-of-freedom robot model, an adaptive robust controller is used to compute the total longitudinal moment, while the robot actuator is regulated based on the difference between autonomous steering and the longitudinal moment. An adaptive robust control scheme is developed to achieve accurate and stable generation of the desired total moment value. Furthermore, quadratic programming is used for torque allocation, optimizing maneuverability and tracking precision by considering the robot’s dynamic model, tire load rate and maximum motor torque output. Findings Comparative evaluations with autonomous steering Ackermann speed control and the average torque method validate the superior performance of the proposed control strategy, demonstrating improved tracking accuracy and robot stability under diverse driving conditions. Research limitations/implications When designing adaptive algorithms, using models with higher degrees of freedom can enhance accuracy. Furthermore, incorporating additional objective functions in moment distribution can be explored to enhance adaptability, particularly in extreme environments. Originality/value By combining this method with the path-tracking algorithm, the robot’s structural path-tracking capabilities and ability to navigate a variety of difficult terrains can be optimized and improved.

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Direct Yaw-Moment Control Integrated With Wheel Slip Regulation for Heavy Commercial Road Vehicles

Cited by 6 publications

References 25 publications

Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car

Research on Yaw Stability Control of Front-Wheel Dual-Motor-Driven Driverless Formula Racing Car

Yaw Stability Control of Unmanned Emergency Supplies Transportation Vehicle Considering Two-Layer Model Predictive Control

Coordinated torque control for enhanced steering and stability of independently driven mobile robots

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