Journal ArticleDOI
A trajectory tracking steer-by-wire control system for ground vehicles
TLDR
A continuous time-varying tracking controller is designed for the vehicle's position/orientation using a simplified vehicle description and reference model for tracking, and mathematical models for steer-by-wire systems in vehicles are presented.Abstract:
The application of multi-disciplinary automotive technologies to hybrid vehicles has resulted in the integration of alternative propulsion sources and drive-by-wire components for enhanced ground vehicle performance, fuel economy, and occupant safety. The integration of steer-by-wire systems in vehicles facilitates autonomous and semi-autonomous operations, better lateral vehicle behavior, an adjustable steering "feel," and elimination of problems arising due to potential engine cycling. In this paper, a continuous time-varying tracking controller is designed for the vehicle's position/orientation using a simplified vehicle description and reference model for tracking. The tracking error is globally, exponentially forced to a neighborhood of about zero by transforming the system into a flat input-state system and then fusing a filtered tracking error transformation with the dynamic oscillator design. Mathematical models are presented for a steer-by-wire rack and pinion unit, vehicle chassis, and tire/road interface dynamics. Representative numerical results are discussed to demonstrate the vehicle's transient response for a prescribed trajectory profile.read more
Citations
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Journal ArticleDOI
Robust sliding mode control for Steer-by-Wire systems with AC motors in road vehicles
TL;DR: In this paper, the modeling of steer-by-wire (SbW) systems is further studied, and a sliding mode control scheme for the SbW systems with uncertain dynamics is developed, demonstrating the strong robustness with respect to large and nonlinear system uncertainties.
Proceedings ArticleDOI
Optimal motion planning with the half-car dynamical model for autonomous high-speed driving
Jeong hwan Jeon,Raghvendra V. Cowlagi,Steven C. Peters,Sertac Karaman,Emilio Frazzoli,Panagiotis Tsiotras,Karl Iagnemma +6 more
TL;DR: An implementation of the RRT* optimal motion planning algorithm for the half-car dynamical model to enable autonomous high-speed driving and observes that the motion of a special point can be modeled as a double integrator augmented with fictitious inputs.
Journal ArticleDOI
Design and Implementation of Adaptive Terminal Sliding-Mode Control on a Steer-by-Wire Equipped Road Vehicle
TL;DR: It is shown that the developed ATSM controller can drive the closed-loop error dynamics to converge to zero in a finite time, where adaptive laws are applied to estimate the uncertain bounds of the system parameters and disturbances in Lyapunov sense.
Journal ArticleDOI
An Intelligent Second-Order Sliding-Mode Control for an Electric Power Steering System Using a Wavelet Fuzzy Neural Network
TL;DR: An intelligent second-order sliding-mode control using a wavelet fuzzy neural network with an asymmetric membership function (WFNN-AMF) estimator is proposed in this study to control a six-phase permanent magnet synchronous motor for an electric power steering (EPS) system.
Journal ArticleDOI
Robust Weighted Gain-Scheduling $H_{\infty }$ Vehicle Lateral Motion Control With Considerations of Steering System Backlash-Type Hysteresis
TL;DR: A robust weighted gain-scheduling H∞ control design for ground vehicles possessing steer- by-wire and drive/brake-by-wire functions is presented in this paper and simulation studies show that the proposed controller is capable of attenuating the effects of both steering system hysteresis and the time-varying parameters.
References
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Book
Theory of Ground Vehicles
TL;DR: In this article, the authors present an approach to the prediction of normal pressure distribution under a track and a simplified method for analysis of tracked vehicle performance, based on the Cone Index.
Proceedings ArticleDOI
An Analysis of Tire Traction Properties and Their Influence on Vehicle Dynamic Performance
Journal ArticleDOI
Linear and nonlinear controller design for robust automatic steering
TL;DR: For an automatic steering problem of a city bus the reference maneuvers and specifications are introduced: a linear controller and a nonlinear controller, both with feedback of the lateral displacement and the yaw rate, which meet all specifications.
Journal ArticleDOI
A different look at output tracking: control of a VTOL aircraft
TL;DR: The proposed control scheme and the approximate-linearization based controller are applied to a Vertical Take Off and Landing (VTOL) aircraft example and the performances are compared.
Book
Nonlinear Control of Electric Machinery
TL;DR: In this paper, the authors present a mathematical foundation for nonlinear control design and stability analysis of nonlinear dynamic models of electric machines, and present the most recent procedures for designing nonlinear algorithms and validates the position tracking performance of 20 algorithms with test findings.
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