Yaw Stability Control of Active Front Steering with Fractional-Order PID Controller

Li, Qiang; Guo-biao, Shi; Wei, Jie; Yang, Lin

doi:10.1109/iciecs.2009.5366433

Cited by 19 publications

(8 citation statements)

References 7 publications

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“…A yaw moment controller based on fractional order PID controller for the AFS system is proposed in [21]. The fractional order PID controller is the expansion result of a conventional integer PID controller based on the fractional calculus.…”

Section: Vehicle Stability Control Strategiesmentioning

confidence: 99%

See 1 more Smart Citation

Control strategies for improving ground vehicle stability: State-of-the-art review

Mousavinejad

Zhu

Vlacic

2015

2015 10th Asian Control Conference (ASCC)

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As a result, an effective VSC strategy is required to enhance the transient response so that the vehicle is able to follow the desired motion characteristics in a fast performance.In formulation of vehicle dynamics behavior, a discrepancy always exists between the actual vehicle model and its mathematical model used for the controller design. Considering the nonlinearity of tire forces, vehicle motion is represented as a nonlinear system, especially during a severe manoeuver. Moreover, an external disturbance such as lateral crosswind may have an effect on controlling the vehicle. Therefore, designing control laws that provide the fast transient performance to the closed-loop system in the presence of these disturbance and uncertainties is a challenging task for vehicle directional stability control. This review study begins with the control objectives in section II. The main types of the VSC system are discussed in section III and followed by reviewing the control strategies and problems in section IV. In section V, a robust control method using fast terminal sliding mode control is discussed and ended with conclusion in section VI. II. CONTROL OBJECTIVESIn vehicle stability control system, vehicle yaw rate and vehicle body sideslip angle, which is the deviation angle between the vehicle longitudinal velocity and its motion direction, are both used as control objectives for evaluating the lateral (cornering) directional behavior of the vehicle [1]. The reason why these two parameters are critical to control the lateral dynamics of the vehicle is that yaw rate control helps the vehicle to maintain the desired rate and direction of rotation about its vertical axis. However, yaw rate control alone is not sufficient for keeping the vehicle moving along the desired path. For instance, if the tire-road friction coefficient is small or if the vehicle speed is too high, controlling the yaw rate can only maintain the vehicle in the intended orientation, but the vehicle sideslip angle may increase considerably causing the vehicle to deviate significantly from its desired path [1]. Consequently, forcing both the yaw rate and sideslip angle to follow their desired values is essential for controlling the lateral dynamics of the vehicle as shown in Fig. 1.

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Section: Vehicle Stability Control Strategiesmentioning

confidence: 99%

“…In [22], authors of [21] changed the type of controller to fuzzy-logic control (FLC). The feedbacks of yaw rate and sideslip angle are considered as inputs of the controller.…”

Section: Vehicle Stability Control Strategiesmentioning

confidence: 99%

Control strategies for improving ground vehicle stability: State-of-the-art review

Mousavinejad

Zhu

Vlacic

2015

2015 10th Asian Control Conference (ASCC)

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“…Varying factors affect the lateral dynamic performance of an automobile, such as road condition, vehicle parameter, structure, tire steering angle and the initial operation of the vehicle [2]. In recent years, the deployment for vehicle advanced control has increased with the high demand of the developing autonomous automobiles.…”

Section: Introductionmentioning

confidence: 99%

Fractional Order PID Control for Improved Lateral Position and Yaw Angle Stability for a Vehicle

Abdulkader¹,

McCann²

2018

Modelling, Simulation and Identification / 858: Intelligent Systems and Control

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With the growing development of autonomous automobiles, vehicle lateral control has caught the attention of researchers recently. Active vehicle front steering can enhance the handling performance and stability of sudden/emergency maneuvers. This research investigates a fractional order proportional-integral-derivative (FOPID) control technique that ensures the regulation of vehicle lateral dynamics behavior with the presence of uncertain parameters. A method for analyzing vehicle dynamics with the "bicycle model" is presented. To validate the proposed control algorithm, the system is linearized and Matlab simulation is used. FOPID is compared to conventional control methods such as PID. Simulation results confirm that the proposed control scheme improves lateral displacement and yaw angle of the vehicle to maneuver safely and potentially prevent a collision from occurring.

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“…As the core component of the AFS system, a controller plays a critical role in the improvement on cornering stability. In the previous investigations, various control approaches have been developed [ 4 , 5 , 7 , 8 , 12 , 13 , 14 , 15 ]. A predictive control model based on the online linearization of the vehicle model was proposed by Falcone to reduce the computational complexity [ 7 ].…”

Section: Introductionmentioning

confidence: 99%

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems

Wong

Zhao

et al. 2016

Sensors

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Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver’s input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice.

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Yaw Stability Control of Active Front Steering with Fractional-Order PID Controller

Cited by 19 publications

References 7 publications

Control strategies for improving ground vehicle stability: State-of-the-art review

Control strategies for improving ground vehicle stability: State-of-the-art review

Fractional Order PID Control for Improved Lateral Position and Yaw Angle Stability for a Vehicle

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems

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