Path Following Control of Autonomous Four-Wheel-Independent-Drive Electric Vehicles via Second-Order Sliding Mode and Nonlinear Disturbance Observer Techniques

Chen, Jiancheng; Shuai, Zhibin; Zhang, Hui; Zhao, Wanzhong

doi:10.1109/tie.2020.2973879

Cited by 109 publications

(49 citation statements)

References 42 publications

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“…The 2-degree-of-freedom (DOF) vehicle model is widely used to design a path tracking controller. 7,13,23 The schematic diagram of the 2-DOF vehicle model is displayed in Figure 5. As this model ignores the influence of the steering system, the front steering angle is directly considered as the input.…”

Section: -Degree-of-freedom Vehicle Modelmentioning

confidence: 99%

“…In terms of path tracking control (PTC), the active front steering (AFS) technique is more effective than the direct yaw moment control (DYC) technology. 7 Accordingly, PTC is mainly based on the AFS technique to eliminate lateral displacement error and angular deviation. Zhao et al 8 have investigated a mixed control for AFS, the aim of which is to track the reference yaw rate.…”

Section: Introductionmentioning

confidence: 99%

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Super-twisting algorithm second-order sliding mode control for collision avoidance system based on active front steering and direct yaw moment control

Liu

Gao

Zhang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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Active collision avoidance system has received more and more attraction, which has the capability to avoid potential accidents and reduce driver burden. This paper proposes an active collision avoidance system which consists of a path planner and a coordinated lateral controller. In the path planner, cubic B-spline is developed to obtain collision-free trajectories to bypass the obstacle by steering. Based on this, a coordinated lateral dynamic control of autonomous ground vehicles is presented to improve the accuracy and robustness of path following and simultaneously ensure vehicle stability via active front steering and direct yaw moment control. Then, second-order sliding mode control, based on super-twisting algorithm, is applied to reduce lateral offset and heading angle deviation as much as possible and avoid chattering phenomenon of tradition sliding mode control. Meanwhile, a new form of sliding mode control based on improved reaching law is devoted to forcing the vehicle state sideslip angle and yaw rate to stability envelope with less chattering in the case of low road friction coefficient. Eventually, the effectiveness and robustness of active collision avoidance system against external disturbance and parametric uncertainties are confirmed through different test cases in the MATLAB/Simulink simulation platform.

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Section: -Degree-of-freedom Vehicle Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Super-twisting algorithm second-order sliding mode control for collision avoidance system based on active front steering and direct yaw moment control

Liu

Gao

Zhang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

show abstract

“…In recent years, many research achievements have been made on the trajectory tracking control of mobile robots. e mainstream tracking control algorithms at this stage included sliding mode control, model predictive control (MPC), and optimal control [1][2][3][4]. Due to the advantages in handling system constraints and balancing multiple control objectives, MPC has been applied in more and more practical mobile robots, such as wheeled robots [5][6][7][8][9] and underwater autonomous navigation robots [10,11].…”

Section: Introductionmentioning

confidence: 99%

Design of a Model Predictive Trajectory Tracking Controller for Mobile Robot Based on the Event-Triggering Mechanism

et al. 2021

Mathematical Problems in Engineering

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A novel model predictive control- (MPC-) based trajectory tracking controller for mobile robot is proposed using the event-triggering mechanism, and the aim is to solve the problem that the MPC optimization problem requires a large amount of online computation and communication resources. This method includes two different event-triggering strategies, namely, the event-triggering based on threshold curve and the event-triggering based on threshold band. The selection of the triggering threshold is achieved by applying the statistical method to the historical data of the trajectory tracking of the mobile robot under the classic MPC method. Simulation and experimental tests illustrate that the proposed approach is able to significantly reduce the computation and communication burdens without affecting the control performance. Furthermore, the experimental results show that compared with the classic MPC-based tracking method, the proposed two event-triggering strategies can reduce 28.1% and 75.7% of the computation load and 0.886 s and 2.385 s communication time.

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“…In recent years, there are some safer and more robust algorithms in the field of path following control, especially for autonomous vehicle. For example, Zhang [27] investigated the path following control problem for four-wheelindependent-drive electric vehicles with consideration of modeling errors and complex driving scenarios which employed a suppress twisting second-order sliding mode (SOSM) control strategy to suppress the heavy chattering issue existing in the traditional sliding mode control (SMC). In addition, this team provided a new solution for path following control of autonomous ground vehicles which formulated a standard model and represented in a Taka-giSugeno fuzzy form to deal with the time-varying nature of [6] Optical guidance Rouen the vehicle speed [28].…”

Section: Introductionmentioning

confidence: 99%

Path Planning and Trajectory Tracking Strategy of Autonomous Vehicles

Han

Zhang

2021

Mathematical Problems in Engineering

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With the development of global urbanization and the construction of regional urbanization, residents around urban cities are increasingly making demands on urban public transportation system. A new kind of modern public transportation vehicle named Multi-Articulated Guided Vehicle based on Virtual Track (MAAV-VT) with the advantages of beautiful, smart energy conservation and environmental protection is proposed in this paper, which aims at optimizing the public transportation system between and within urban areas. Therefore, concentrating on the general design and control strategy, the main contents of this paper are as follows. At first, the design concepts and key technologies of MAAV-VT are introduced. It is the fusion of urban rail transit operation mode and advanced automotive technologies, which have the characteristics of 100% low-floor, medium to high velocity, medium to big capacity, and low construction cost. Then, as the core subsystem, to guarantee the properties of self-guiding and trajectory tracking of the new vehicle, this paper is focused on the control system based on the dynamics and kinematics model of the whole multi-articulated vehicle. The multi-trace-points cooperative trajectory tracking control strategy on the basis of the circulation of feasible path generation method is proposed and the lateral controller is designed for trajectory tracking. The process of feasible path generation is conducted once the tracking error exceeded. A simulation platform is built considering the mechanical properties of each vehicle element and the characteristic of articulated mechanism. Finally, the function of control system is validated. The tracking error of each vehicle elements would be reduced to make sure the whole multi-articulated vehicle moves along the preset virtual track.

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Path Following Control of Autonomous Four-Wheel-Independent-Drive Electric Vehicles via Second-Order Sliding Mode and Nonlinear Disturbance Observer Techniques

Cited by 109 publications

References 42 publications

Super-twisting algorithm second-order sliding mode control for collision avoidance system based on active front steering and direct yaw moment control

Super-twisting algorithm second-order sliding mode control for collision avoidance system based on active front steering and direct yaw moment control

Design of a Model Predictive Trajectory Tracking Controller for Mobile Robot Based on the Event-Triggering Mechanism

Path Planning and Trajectory Tracking Strategy of Autonomous Vehicles

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