Observer based sliding mode controller for vehicles with roll dynamics

Ley-Rosas, Juan J.; González-Jiménez, Luis E.; Loukianov, Alexander G.; Ruiz‐Duarte, Jorge E.

doi:10.1016/j.jfranklin.2018.11.031

Cited by 13 publications

(7 citation statements)

References 11 publications

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“…Consequently, some fatal accidents may occur when only one single controller is utilized due to the lack of adaptation to complicated and fast-changing traffic environments (Lin et al, 2019). To accommodate or eliminate this phenomenon, Li et al (2016) analyzed the longitudinal dynamics with additional yaw motion dynamics. While Ni and Hu (2017) designed a hierarchical control strategy to simultaneously control lateral and longitudinal dynamics of the vehicle at driving limits.…”

Section: Dynamic-model-based Methodsmentioning

confidence: 99%

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Review article: State-of-the-art trajectory tracking of autonomous vehicles

Zhang

2021

Mech. Sci.

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Abstract. Air pollution, energy consumption, and human safety issues have aroused people's concern around the world. This phenomenon could be significantly alleviated with the development of automatic driving techniques, artificial intelligence, and computer science. Autonomous vehicles can be generally modularized as environment perception, path planning, and trajectory tracking. Trajectory tracking is a fundamental part of autonomous vehicles which controls the autonomous vehicles effectively and stably to track the reference trajectory that is predetermined by the path planning module. In this paper, a review of the state-of-the-art trajectory tracking of autonomous vehicles is presented. Both the trajectory tracking methods and the most commonly used trajectory tracking controllers of autonomous vehicles, besides state-of-art research studies of these controllers, are described.

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Section: Dynamic-model-based Methodsmentioning

confidence: 99%

“…It has the big advantage that it is not necessary to know the mathematical models or the plant compared with other controllers, which helps it maintain good generic applicability (Rupp and Stolz, 2017). Typically, the steering angle of the vehicle can be derived through a traditional PID controller with the following equation (Li et al, 2016):…”

Section: Pidmentioning

confidence: 99%

Review article: State-of-the-art trajectory tracking of autonomous vehicles

Zhang

2021

Mech. Sci.

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“…where, F xf0 and F xr0 the pure longitudinal forces of the front and the rear tires, respectively, F yf0 and F yr0 the pure lateral forces of the front and the rear tires, respectively. They can be calculated by equation (11). The values of combined slip coefficients from equations ( 15) and ( 16) are shown in Table 4.…”

Section: Vehicle System Modelmentioning

confidence: 99%

“…When the tire is working in the state of saturated friction, the coupling between different DOFs of the vehicle make the vehicle more likely to lose stability. Therefore, with the development of the nonlinear system dynamics and the application of related theories in the field of vehicle dynamics, 11 more and more researchers have been conducted to study the influence of the coupling between different vehicle state parameters on vehicle system stability under extreme conditions, and to establish more complete vehicle model for estimating the vehicle stability region under critical driving situations. Li et al 12 deeply analyzed the coupling relationship between the plane motion and the roll motion of the vehicle, and a new dynamic stability controller was designed for the plane and roll stability control.…”

Section: Introductionmentioning

confidence: 99%

Research on vehicle stability region under critical driving situations with static bifurcation theory

Zhu

Zhang

Wang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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A strategy for solving the static bifurcation points of the 5DOF vehicle nonlinear system is proposed to research the stability region of the system. The bifurcation characteristics of the system is changed by the coupling of the steering and the engine braking torques under the high-speed emergency steering conditions, and the corresponding vehicle stability region must be redefined. The stability region of the vehicle which is influenced by the engine braking torque is determined with the static bifurcation theory, and the equilibrium points of the 5DOF vehicle system are solved with the phase space method and the random weight particle swarm optimization (RWPSO) algorithm. The vehicle stability is verified with different initial longitudinal speeds and different steering angles, and the simulation results validate the effectiveness of the stability region under the critical driving conditions. The study is conducive to the development of the active safety control systems and the application of nonlinear system dynamics in the automotive field. Furthermore, it provides the theoretical support for the application of the vehicle-handling stability.

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“…The most active and passive safety control systems are developed using a vehicle dynamic model, requiring the longitudinal tire forces to determine vehicle parameters, including longitudinal acceleration, braking distance, and slip rate [7]. Moreover, according to linear and nonlinear vehicle dynamic models, the longitudinal force acting on the tire is a major factor affecting the behaviour of a vehicle [8].…”

Section: Introductionmentioning

confidence: 99%

A Strain-Based Method to Estimate Longitudinal Force for Intelligent Tires by Using a Physics-Based Model

Zhou

Yang

et al. 2021

SV-JME

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Tires are essential components of vehicles and the only vehicle components in contact with the road. The tire longitudinal force originating from the contact between the tire and road can enhance traction and braking and contribute to the directional stability of vehicles. If the longitudinal tire force can be accurately estimated, vehicle safety can be improved. This study established a longitudinal tire physics-based model combining the brush model with the flexible ring model to develop a strain-based intelligent tire system for estimating the longitudinal tire force. The developed longitudinal dynamic model was used to study tire strain characteristics under pure longitudinal slip conditions. An algorithm was developed for estimating the longitudinal tire force through feature extraction and data fitting of the tire strain. A finite-element tire model was established to simulate the longitudinal force. Comparing the simulated and estimated forces indicated that the proposed algorithm can accurately predict the longitudinal force of intelligent tires and thus provide useful information to vehicle stability control systems.

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Observer based sliding mode controller for vehicles with roll dynamics

Cited by 13 publications

References 11 publications

Review article: State-of-the-art trajectory tracking of autonomous vehicles

Review article: State-of-the-art trajectory tracking of autonomous vehicles

Research on vehicle stability region under critical driving situations with static bifurcation theory

A Strain-Based Method to Estimate Longitudinal Force for Intelligent Tires by Using a Physics-Based Model

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