Torque Vectoring and Rear-Wheel-Steering Control for Vehicle's Uncertain Slips on Soft and Slope Terrain Using Sliding Mode Algorithm

Liang, Zhongchao; Zhao, Jing; Dong, Zhen; Wang, Yongfu; Ding, Zhengtao

doi:10.1109/tvt.2020.2974107

Cited by 73 publications

(27 citation statements)

References 39 publications

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“…To meet the above requirements, the servo control is obtained by the derivative of the sliding mode surface. 26,30…”

Section: Control Design Based On An Equivalent 2-dof Modelmentioning

confidence: 99%

“…To meet the above requirements, the servo control is obtained by the derivative of the sliding mode surface. 26,30 In engineering practice, the suspension deflection can be measured by sensor and the sprung mass velocity relative to the unsprung mass can be obtained by calculating the derivative of the suspension deflection.…”

Section: Control Design Based On An Equivalent 2-dof Modelmentioning

confidence: 99%

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Sliding mode control of double-wishbone active suspension systems based on equivalent 2-degree-of-freedom model

Yin

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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As a critical component of transportation vehicles, active suspension systems (ASSs) have widely attracted attention for their outstanding capability of improving the riding comfort and the maneuverability. However, due to the effects of the suspension kinematic structure and the rubber elements containing bushings and top mount, the practical double-wishbone ASS cannot achieve the desired performance resulting from the control design based on a simple 2-degree-of-freedom (DOF) model. In this paper, a sliding mode control (SMC) based on an equivalent 2-DOF model is proposed to suppress the sprung mass vibration of a double-wishbone ASS, which is to improve the riding comfort of vehicle. The SMC for a double-wishbone ASS is designed in four steps. First, an equivalent 2-DOF model of a double-wishbone ASS, which considers suspension kinematic structure and rubber properties, is established. The parameter values of an equivalent 2-DOF model are identified by using least square method. Second, an SMC is designed for an equivalent 2-DOF model, and the effect of the parameter value of the 2-DOF model on the riding comfort is investigated by experimental results. Third, a control compensator for a double-wishbone ASS is developed by considering the suspension kinematic structure. Four, the control for double-wishbone ASS is obtained by integrating the compensator into the SMC based on the equivalent 2-DOF model. The numerical simulation results show that the control can effectively suppress the sprung mass vibration of the double-wishbone ASS when the SMC design is based on an equivalent 2-DOF model.

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“…To meet the above requirements, the servo control is obtained by the derivative of the sliding mode surface. 26,30…”

Section: Control Design Based On An Equivalent 2-dof Modelmentioning

confidence: 99%

Section: Control Design Based On An Equivalent 2-dof Modelmentioning

confidence: 99%

Sliding mode control of double-wishbone active suspension systems based on equivalent 2-degree-of-freedom model

Yin

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…The multi‐modal HSC is shown to capture the driver's attention more effectively and provide a more natural interaction [18, 19]. Multiple studies show that the HSC improved driving performance in both lateral (via a haptic steering wheel) direction and longitudinal direction (via a haptic pedal) [20, 21]. For the haptic pedal shared control system, it supports drivers to control the longitudinal motion of vehicle, addressing speed adaption and collision avoidance.…”

Section: Introductionmentioning

confidence: 99%

Reference‐free approach for mitigating human–machine conflicts in shared control of automated vehicles

Huang

Naghdy

et al. 2020

IET Control Theory & Appl

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“…The researchers in [12] used the ant colony algorithm to address the problem of unmanned vehicle path planning. Liang et al [13] proposed control strategies for the torque of each wheel and the rear-wheel-steering angle to maintain a stable velocity by using second-order sliding mode (SOSM) techniques. Tan et al [14] proposed a novel method of global optimal path planning for mobile robots based on the improved Dijkstra algorithm and ant system algorithm.…”

Section: Introductionmentioning

confidence: 99%

Improving Lateral Safety Distance-Based on Feature Detection and Probabilistic Roadmaps for Unmanned Vehicle Path Planning

Wang

Chang

et al. 2020

Preprint

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Most of the existing path-planning algorithms do not consider lateral safe distance requirements in practical applications. Hence, in this study, a new path point selection algorithm is proposed for path planning. The algorithm first used the Harris and Line Segment Detector(LSD) algorithms to detect and obtain the corner and edge information of obstacles. A vertical line was provided to the edge of the surrounding obstacles along each corner successively. In this process, the narrow impassable area in the map was filtered and removed by setting a safety threshold, and the foot of the vertical coordinates were simultaneously obtained. The corresponding midpoint coordinates were solved by using the corner coordinates and the foot of the corresponding perpendicular coordinates. The midpoint coordinates were used as candidate points to generate path points. These candidate points are screened and relaxed using the Probabilistic Roadmaps(PRM) algorithm to obtain the series of path points required. Finally, the path was planned according to these path points and smoothed using the Quadratic polynomial interpolation method(QPMI). Through simulation experiments, the method proposed in this study can solve a unique path without randomness under given conditions, and the probability of a collision in practical applications was reduced.

show abstract

Torque Vectoring and Rear-Wheel-Steering Control for Vehicle's Uncertain Slips on Soft and Slope Terrain Using Sliding Mode Algorithm

Cited by 73 publications

References 39 publications

Sliding mode control of double-wishbone active suspension systems based on equivalent 2-degree-of-freedom model

Sliding mode control of double-wishbone active suspension systems based on equivalent 2-degree-of-freedom model

Reference‐free approach for mitigating human–machine conflicts in shared control of automated vehicles

Improving Lateral Safety Distance-Based on Feature Detection and Probabilistic Roadmaps for Unmanned Vehicle Path Planning

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