Wheel slip control for ABS with time delay input using feedback linearization and adaptive sliding mode control

Park, Kyun-Sang; Lim, Jong-Tae

doi:10.1109/iccas.2008.4694658

Cited by 11 publications

(16 citation statements)

References 11 publications

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“…This simplification of the model has been shown to capture the essential dynamic elements of the ABS [11], [12].…”

Section: A the Quarter-car Modelmentioning

confidence: 98%

Artificial intelligent-based feedforward optimized PID wheel slip controller

John

2013

2013 Africon

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Continual improvement of the anti-lock braking system control strategy is the focus of this work. Advances in auto-electronics and sub-systems such as the brake-by-wire technology are the driving forces behind the improvement of the anti-lock braking system. The control strategy has shifted from speed-control to slip-control strategy. In the current slip-control approach, proportional-integral-derivative (PID) controller and its variants: P, PI and PD have been proposed in place of the bangbang controller mostly used in commercial ABS. Though the PID controller is famous due to its wide applications in industry: irrespective of the nature of the process or system, it might lead to limited performance when applied to the ABS. In order to improve the performance of the PID controller, a neural network inverse model of the plant is used to optimize the reference input slip. The resultant neural network-based PID ABS is then tested in Matlab R /Simulink R simulation environment. The results of the proposed controller, exhibits more accurate slip tracking than the PID-slip controller.

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“…This simplification of the model has been shown to capture the essential dynamic elements of the ABS [11], [12].…”

Section: A the Quarter-car Modelmentioning

confidence: 98%

Artificial intelligent-based feedforward optimized PID wheel slip controller

John

2013

2013 Africon

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“…where the design parameters v  and s  are chosen heuristically [37], and  is the filtered error signal given by: ...      (19) Taking the derivative of  will yield:…”

Section: Stability Analysismentioning

confidence: 99%

Hybrid Feedback Linearization Slip Control for Anti-lock Braking System

John

Pedro

2013

APH

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The Anti-lock braking system (ABS) is an active safety device in road vehicles, which during hard braking maximizes the braking force between the tyre and the road irrespective of the road conditions. This is accomplished by regulating the wheel slip around its optimum value. Due to the high non-linearity of the tyre and road interaction, and uncertainties from vehicle dynamics, a standard PID controller will not suffice. This paper therefore proposes a non-linear control design using input-output feedback linearization approach. To enhance the robustness of the non-linear controller, an integral feedback method was employed. The stability of the controller is analysed in the Lyapunov sense. To demonstrate the robustness of the proposed controller, simulations were conducted on two different road conditions. The results from the proposed method exhibited a more superior performance and reduced the chattering effect on the braking torque compared to the performance of the standard feedback linearization method.

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“…Hsu and Kuo, 13 adopted the adaptive exponential-reaching SMC approach to design the wheel slip tracking control system with fast dynamic performance and good dynamic quality, and the functional-linked wavelet neural network was used approximate and compensate the uncertainty of the system to reduce the chattering effects. Park and Lim, 14 proposed an output feedback controller for wheel slip tracking control based on feedback linearization and adaptive SMC approach to suppress the effect of the time delay of the brake torque on the tracking accuracy.…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive anti-windup wheel slip tracking control for intelligent vehicle with fast terminal sliding mode observer

Zhang

Zhou

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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Aiming at the requirement of the intelligent vehicle for the fast and stable tracking control of the wheel slip, a novel robust adaptive anti-windup wheel slip tracking control method with fast terminal sliding mode observer is proposed. First, a fast terminal sliding mode observer based on equivalent control on the sliding surface is proposed to estimate the states of the wheel slip dynamic system to lay the foundation for the full state feedback control law design. Second, a robust adaptive anti-windup wheel slip tracking control law with lumped uncertainty observer and additional anti-windup dynamics is derived based on Lyapunov-based method. The lumped uncertainty observer utilizes the nonlinear mapping ability of the radius basis function neural network to estimate and compensate the lumped uncertainty of the system, and the unknown optimal weight vector of the radius basis function neural network is updated by adaptive law. The additional anti-windup dynamics is used to suppress the effect of the input saturation on the stability of the system. Finally, the performance of the proposed method is verified through simulations of various maneuvers on vehicle dynamics simulation software.

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Wheel slip control for ABS with time delay input using feedback linearization and adaptive sliding mode control

Cited by 11 publications

References 11 publications

Artificial intelligent-based feedforward optimized PID wheel slip controller

Artificial intelligent-based feedforward optimized PID wheel slip controller

Hybrid Feedback Linearization Slip Control for Anti-lock Braking System

Robust adaptive anti-windup wheel slip tracking control for intelligent vehicle with fast terminal sliding mode observer

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