Journal ArticleDOI
Active Front Steering-Based Electronic Stability Control for Steer-by-Wire Vehicles via Terminal Sliding Mode and Extreme Learning Machine
TLDR
Not only the dependence of SbW system dynamics can be alleviated in the process of designing controller but also the excellent steering control performance can be achieved.Abstract:
In this article, a novel active front steering (AFS) control strategy including the upper controller and the lower controller is proposed to improve the yaw stability and maneuverability for steer-by-wire (SbW) vehicles. The adaptive recursive integral terminal sliding mode (ARITSM) control is adopted in the upper controller for guaranteeing the convergence performance of both the actual sideslip angle and the yaw rate with strong robustness and fast convergence rate. Then, a fast nonsingular terminal sliding mode (FNTSM) control with extreme learning machine (ELM) estimator to estimate its equivalent control is designed in the lower controller to track the desired front wheel steering angle calculated from the upper controller for driving the sideslip angle and the yaw rate to converge ideal value. It is shown that the upper controller takes two controlled variables (vehicle sideslip angle and yaw rate) and only one control input (front steering angle) into consideration, which can obtain a better performance compared with the case of using only one of these values. Since using the ELM technique in the lower controller to estimate the equivalent control of the FNTSM, not only the dependence of SbW system dynamics can be alleviated in the process of designing controller but also the excellent steering control performance can be achieved. Comparative simulations are carried out by utilizing Carsim and Matlab software to validate the excellent performance of the proposed control strategy for different steering maneuvers.read more
Citations
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Journal ArticleDOI
Uninterrupted path planning system for Multi-USV sampling mission in a cluttered ocean environment
TL;DR: In this article , an uninterrupted collision-free path planning system for ocean sampling missions is presented, which facilitates the operational performance of multiple unmanned surface vehicles (USVs) in an ocean sampling mission by integrating B-spline data frame and particle swarm optimization (PSO)-based solver engine.
Journal ArticleDOI
Robust Backstepping Super-Twisting Sliding Mode Control for Autonomous Vehicle Path Following
TL;DR: In this paper, a super-twisting sliding mode control algorithm (STA) is developed based on Lyapunov theory, where the proof of the stability of the control system is presented by applying the backstepping technique.
Journal ArticleDOI
Fractional-order sliding mode control based guidance law with impact angle constraint
Yongzhi Sheng,Zhuo Zhang,Lei Xia +2 more
TL;DR: In this article, a fractional-order theory combined sliding mode guidance law is proposed to satisfy the requirements in the terminal guidance phase, and the system is proved to be asymptotically stable according to the Lyapunov stability principle.
Journal ArticleDOI
Trajectory-tracking control of Mecanum-wheeled omnidirectional mobile robots using adaptive integral terminal sliding mode
TL;DR: The simulation results substantiate that the AITSM control strategy is an effective solution to the MWOMR trajectory-tracking problem, which exhibits remarkable superiority in terms of tracking precision and control robustness compared with the CSM and NTSM control.
Journal ArticleDOI
Neural network aided fractional-order sliding mode controller for frequency regulation of nonlinear power systems
TL;DR: In this paper, the performance of a fractional-order integral sliding mode controller (FOISMC) has been assessed for frequency regulation of interconnected power systems considering inherent nonlinearities, such as generation rate constraint and governor dead-band.
References
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Journal ArticleDOI
Extreme learning machine: Theory and applications
TL;DR: A new learning algorithm called ELM is proposed for feedforward neural networks (SLFNs) which randomly chooses hidden nodes and analytically determines the output weights of SLFNs which tends to provide good generalization performance at extremely fast learning speed.
Book
Vehicle dynamics and control
TL;DR: In this paper, the authors present a mean value model of SI and Diesel engines, and design and analysis of passive and active automotive suspension components, as well as semi-active and active suspensions.
Journal ArticleDOI
Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems
Liang Yang,Jianying Yang +1 more
TL;DR: In this paper, fast finite-time control of nonlinear dynamics using terminal sliding-mode (TSM) scheme was investigated, and new norms of fast TSM strategies were proposed, and a faster convergence rate was established in comparison with the conventional fast TTM.
Automotive Control Systems: For Engine, Driveline, and Vehicle
Uwe Kiencke,Lars Nielsen +1 more
TL;DR: In this paper, the authors have large experiences in industrial development (Bosch) as well as in academic research and introduce mechanical engineers into vehicle-specific signal processing and automatic control.