Interior‐Point Method to Optimize Tire Force Allocation in 4‐Wheeled Vehicles Using High‐Level Sliding Mode Control with Adaptive Gain

Tavasoli, Ali; Naraghi, Mohammad

doi:10.1002/asjc.594

Cited by 10 publications

(9 citation statements)

References 26 publications

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“…Generally, system disturbances depend on the complicated dynamics of the plate and the external forces affecting it, and, in many cases, it is not possible to determine their exact bound. To resolve this problem, adaptive control methodology with control parameters updated online is a promising approach [35,36]. This section introduces robust boundary control with adaptive gains into the plate system.…”

Section: Robust Nonlinear Boundary Control With Disturbance Adaptationmentioning

confidence: 99%

Robust boundary stabilization of a vibrating rectangular plate using disturbance adaptation

Tavasoli

2016

Adaptive Control & Signal

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This paper considers robust boundary control with disturbance adaptation to stabilize the vibration of a rectangular plate under disturbances with unknown upper-bounds. Disturbances are considered to be distributed both over the plate interior domain and along the boundary (in-domain and boundary distributed disturbances). Applying Hamilton's principle, the dynamics of the plate is represented in the form of a fourth-order partial differential equation subject to static and dynamic boundary conditions. The proposed model considers the membrane effect of axial force and the effect of actuator mass dynamics on the plate vibration. A robust boundary control is established that stabilizes the plate in presence of both in-domain and boundary disturbances. A rigorous Lyapunov stability analysis shows that the vibration of the plate is uniformly ultimately bounded and converges to the vicinity of zero by proper selection of control gains. For the vanishing in-domain disturbances, it is seen that exponential stability is achieved by the proposed control. Next, a disturbance adaptation law is introduced to stabilize the plate vibration in response to disturbances with unknown bounds, and the stability of the robust boundary control with disturbance adaptation is studied using Lyapunov. Simulation results verify the efficiency of the suggested control.

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Section: Robust Nonlinear Boundary Control With Disturbance Adaptationmentioning

confidence: 99%

Robust boundary stabilization of a vibrating rectangular plate using disturbance adaptation

Tavasoli

2016

Adaptive Control & Signal

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“…[37][38][39] In recent years, robust control with adaptive upper bounds has been successfully utilized for ODEs. 40 Here, this approach is extended to a hybrid system modeled by a set of coupled PDEs and ODEs. To this end, the hybrid PDE-ODE dynamic model of the flexible arm with 2 axes of rigid body rotation is derived by first determining the requisite rigid and flexible kinematical coordinates and then applying Hamilton's principle.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and adaptive robust boundary control of a flexible robotic arm with 2‐dimensional rigid body rotation

Tavasoli

Mohammadpour

2018

Adaptive Control & Signal

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This paper investigates the control of a single-link flexible robot manipulator with a tip payload appointed to rotate about 2 perpendicular axes in space. The control objective is to regulate the rigid body rotation of the manipulator with guaranteeing the stability of its vibration in the presence of exogenous disturbances. To achieve this, a Lyapunov-based control design procedure is used and accomplished in some steps. First, the partial differential equation (PDE) dynamic model governing the rigid-flexible hybrid motion of the arm is derived by applying Hamilton's principle. Next, based on the developed PDE model, an adaptive robust boundary control is established using the Lyapunov redesign approach. To this end, an adaptation mechanism is proposed so that the robust boundary control gains are dynamically updated online and there is no need for prior knowledge of disturbance upper bounds. The actuators and sensors are fully implemented at the arm boundary without using distributed actuators or sensors. Furthermore, in order to avoid control errors resulting from the spillover, control design is directly based on infinite-dimensional PDE model without resorting to model truncation. Simulation results illustrate the efficacy of the considered method. KEYWORDS adaptive upper bound, boundary control, distributed parameter systems, flexible arm, robust control Int J Adapt Control Signal Process. 2018;32:891-907.wileyonlinelibrary.com/journal/acs

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“…4 Also, a high-level SMC with adaptive gains was used to determine the body force and moment for vehicle stability by Tavasoli and Naraghi. 5 The designed controller required only online adaptation of control gains without obtaining of upper bound on system uncertainties. Moreover, a robust yaw stability control system was proposed to stabilize the yaw motion of the in-wheelmotor-driven electric vehicles by Nam et al 6 An ASMC was applied to make the electric vehicle yaw rate to track its reference with robustness against model uncertainties and disturbances and evaluated the controller performance through computer simulation using validated CarSim vehicle model.…”

Section: Introductionmentioning

confidence: 99%

A combined use of adaptive sliding mode control and unscented Kalman filter estimator to improve vehicle yaw stability

Bagheri

Azadi

Soltani

2016

Proceedings of the Institution of Mechanical Engineers, Part K:

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In this paper, an adaptive sliding mode controller is proposed to improve the vehicle yaw stability and enhance the lateral motion by direct yaw moment control method using active braking systems. As the longitudinal and lateral velocities of the vehicles as well as many other vehicle dynamics variables cannot be measured in a cost-efficient way, a robust control method combined with a state estimator is required to guarantee the system stability. Furthermore, some parameters such as the tyre-road friction coefficient undergo frequent changes, and the aerodynamics resistance forces are often exerted as a disturbance during the wide driving condition. So, an adaptive sliding mode controller is applied to make vehicle yaw rate to track its reference with robustness against model uncertainties and disturbances and a non-linear estimator based on unscented Kalman filter is used to estimate wheel slip, yaw rate, road friction coefficient, longitudinal and lateral velocities. The estimation algorithm directly uses non-linear equations of the system and does not need the linearization and differentiation. The designed controller, which is insensitive to system uncertainties, offers the adaptive sliding gains to eliminate the precise determination of the bounds of uncertainties. The sliding gain values are determined using a simple adaptation algorithm that does not require extensive computational load. Numerical simulations of various manoeuvres using a non-linear full vehicle model with seven degrees of freedom demonstrate the high effectiveness of the presented controller for improving the vehicle yaw stability and handling performance.

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Interior‐Point Method to Optimize Tire Force Allocation in 4‐Wheeled Vehicles Using High‐Level Sliding Mode Control with Adaptive Gain

Cited by 10 publications

References 26 publications

Robust boundary stabilization of a vibrating rectangular plate using disturbance adaptation

Robust boundary stabilization of a vibrating rectangular plate using disturbance adaptation

Dynamic modeling and adaptive robust boundary control of a flexible robotic arm with 2‐dimensional rigid body rotation

A combined use of adaptive sliding mode control and unscented Kalman filter estimator to improve vehicle yaw stability

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