Robust steering control for a steer-by-wire automated guided vehicle via fixed-time adaptive recursive sliding mode

Kong, Huifang; Liu, Tiankuo; Fang, Yao; Yan, Jiapeng

doi:10.1177/01423312231156241

Cited by 2 publications

(3 citation statements)

References 29 publications

(58 reference statements)

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“…where x = [x 1 , x 2 ] T ∈ R 2 , y ∈ R, and u ∈ R, represent, respectively, the system variable vector, the output, and the controlled actuation input of the SBW system in (7). Additionally, F 0 (x, t) ∈ R denotes the nominal part of the SBW dynamics, and D(x, t) ∈ R stands for the lumped perturbation.…”

Section: Plant Modeling Of the Sbw Systemmentioning

confidence: 99%

“…As the control actuator motor unit in the lower and the steering module in the top as depicted in Figure 1 are connected via the transmission channel, the input time delay τ i (t) and the output time delay τ o (t) are induced by the transmission connection as shown in Figure 1. Considering the time delays of the transmission channel, the perturbed SBW system in (7) under those delays is modeled by…”

Section: Dynamic Model Of the Time-delayed Sbw System With Transmissi...mentioning

confidence: 99%

“…The domain of steer-by-wire systems has witnessed an extensive exploration of diverse control strategies aimed at enhancing the dynamic performance and safety of SBW vehicles [5][6][7][8][9]. In [10], an adaptive sliding mode control (SMC) method was presented for the vehicle SBW system to address the trajectory tracking problem and enhance robustness against diverse road conditions.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays

Rsetam,

Khawwaf,

Zheng

et al. 2024

WEVJ

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The modern steer-by-wire (SBW) systems represent a revolutionary departure from traditional automotive designs, replacing mechanical linkages with electronic control mechanisms. However, the integration of such cutting-edge technologies is not without its challenges, and one critical aspect that demands thorough consideration is the presence of nonlinear dynamics and communication network time delays. Therefore, to handle the tracking error caused by the challenge of time delays and to overcome the parameter uncertainties and external perturbations, a robust fast finite-time composite controller (FFTCC) is proposed for improving the performance and safety of the SBW systems in the present article. By lumping the uncertainties, parameter variations, and exterior disturbance with input and output time delays as the generalized state, a scaling finite-time extended state observer (SFTESO) is constructed with a scaling gain for quickly estimating the unmeasured velocity and the generalized disturbances within a finite time. With the aid of the SFTESO, the robust FFTCC with the scaling gain is designed not only for ensuring finite-time convergence and strong robustness against time delays and disturbances but also for improving the speed of the convergence as a main novelty. Based on the Lyapunov theorem, the closed-loop stability of the overall SBW system is proven as a global uniform finite-time. Through examination across three specific scenarios, a comprehensive evaluation is aimed to assess the efficiency of the suggested controller strategy, compared with active disturbance rejection control (ADRC) and scaling ADRC (SADRC) methods across these three distinct driving scenarios. The simulated results have confirmed the merits of the proposed control in terms of a fast-tracking rate, small tracking error, and strong system robustness.

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Section: Plant Modeling Of the Sbw Systemmentioning

confidence: 99%

Section: Dynamic Model Of the Time-delayed Sbw System With Transmissi...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays

Rsetam,

Khawwaf,

Zheng

et al. 2024

WEVJ

View full text Add to dashboard Cite

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Design and analysis of ELM-based predefined time sliding mode adaptive controller for PMLM position control under physical constraints

Riaz,

Li,

2024

Sci Rep

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Achieving accurate position tracking for robotics and industrial servo systems is an extremely challenging task, particularly when dealing with control saturation, parameter perturbation, and external disturbance. To address these challenges, a predefined time convergent sliding mode adaptive controller (PTCSMAC) has been proposed for a permanent magnet linear motor (PMLM). A novel sliding mode surface (SMS) with predefined time convergence PDTC has been constructed, which ensures that the error converges to zero within the prescribed time. The system not only meets the expected performance standards but also has a uniformly bounded motor speed. The trajectory tracking error in SMS is proven to converge to zero within the predefined time. This predefined time stability of the closed-loop system has been demonstrated by using the Lyapunov stability criterion with PDTC. The convergence time (CT) can be arbitrarily set, and the upper bound of it is not affected by the initial value and control parameters of the system. A new updated version of extreme learning machine (ELM) is introduced to approximate the uncertain part of the system based on PDTC. The ELM is also provided with the hyperbolic tangent function to estimate the saturation constraint. This is done by converting the function into a linear function concerning the unconstrained control input variable. Then, based on established stability, a novel sliding mode adaptive controller (PTCSMAC) with predefined time convergence is designed. The convergence time (CT) of the controller is unaffected by the initial conditions as well as the control parameters. The rigorous numerical simulations on the PMLM model with complex disturbances verify the strong robustness and high-precision tracking characteristic of the proposed control law.

show abstract

Robust steering control for a steer-by-wire automated guided vehicle via fixed-time adaptive recursive sliding mode

Cited by 2 publications

References 29 publications

Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays

Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays

Design and analysis of ELM-based predefined time sliding mode adaptive controller for PMLM position control under physical constraints

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