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Journal ArticleDOI: 10.1080/00423114.2019.1690152

Adaptive neural control of vehicle yaw stability with active front steering using an improved random projection neural network

04 Mar 2021-Vehicle System Dynamics (Taylor & Francis)-Vol. 59, Iss: 3, pp 396-414
Abstract: Active front steering (AFS) can enhance the vehicle yaw stability. However, the control of vehicle yaw rate is very challenging due to (1) the unmodelled nonlinearity and uncertainties in v...

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Topics: Yaw (70%)
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11 results found


Journal ArticleDOI: 10.1109/TVT.2020.3036400
Jie Zhang1, Hai Wang2, Mingyao Ma1, Ming Yu1  +2 moreInstitutions (3)
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.

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Topics: Yaw (62%), Control theory (61%), Terminal sliding mode (59%) ... read more

19 Citations


Open accessJournal ArticleDOI: 10.1177/1729881420941986
Jinwei Sun, Kai Zhao1Institutions (1)
Abstract: The object of this article is to design an observer-based adaptive neural network sliding mode controller for active suspension systems. A general nonlinear suspension model is established, and the...

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Topics: Active suspension (66%), Sliding mode control (61%), Suspension (vehicle) (54%) ... read more

4 Citations


Open accessJournal ArticleDOI: 10.25165/IJABE.V13I5.4884
Niu Ziru1, Jianlei Li1, Shuai Xin1, Liangliang Zou1  +4 moreInstitutions (2)
Abstract: Variable transmission ratio racks show great potential in rice transplanters as a key component of variable transmission ratio steering to balance steering portability and sensitivity. The objective of this study was to develop a novel geometrical design method to achieve quick, high-quality modeling of the free curvilinear tooth profile of a variable transmission ratio rack. First, a discrete envelope motion 3D model was established between the pinion-sector and the variable transmission ratio rack blank based on the mapping relationship between the rotation angle of the pinion-sector and the displacement of the rack, according to the variable transmission ratio function. Based on the loop Boolean subtraction operation, which removed the pinion-sector from the rack blank during all moments of the discrete motion process, the final complex changing tooth shape of the variable transmission ratio rack was enveloped. Then, since Boolean cutting residues made the variable ratio tooth surface fluctuant and eventually affected the precision of the model, this study proposed a modification method for establishing a smooth and continuous tooth profile. First, a novel fitting algorithm used approximate variable ratio tooth profile points extracted from the Boolean cutting marks and generated a series of variable ratio tooth profiles by utilizing B-spline with different orders. Next, based on a transmission stability simulation, the variable ratio tooth profile with optimal dynamic performance was selected as the final design. Finally, tests contrasting the transmission stability of the machining samples of the initial variable ratio tooth profile and the final variable ratio tooth profile were conducted. The results indicated that the final variable ratio tooth profile is more effective than the initial variable ratio tooth profile. Therefore, the proposed variable ratio tooth profile modeling and modification method for eliminating Boolean cutting residues and improving surface accuracy is proved to be feasible. Keywords: rice transplanter, steering, variable ratio tooth profile, variable ratio curve, Boolean subtraction operation, transmission stability DOI: 10.25165/j.ijabe.20201305.4884 Citation: Niu Z R, Li J L, Xin S, Zou L L, Li Y H, Hou J L, et al. Geometrical design of variable ratio tooth profile based on Boolean subtraction operation and a novel modification method. Int J Agric & Biol Eng, 2020; 13(5): 125–133.

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Topics: Tooth surface (70%)

3 Citations


Proceedings ArticleDOI: 10.1109/ICECOCS50124.2020.9314541
02 Dec 2020-
Abstract: Vehicle safety and control is attracting attention increasingly in an attempt to improve the stability and manoeuvrability of vehicles. Three degrees of freedom vehicle dynamic model (called planar vehicle model) is established. Based on theories of fuzzy PID control and neural network based-Controller, controller of vehicle stability is designed by using the method of direct yaw rate control and the two different control strategies. The controllers were compared under one road condition which is a lane change of manoeuvre. By comparing and analyzing the control effect of fuzzy PID control and neural network based-Controller, the result shows as follows: the two controllers improved the yaw rate to follow the reference yaw rate but, using the fuzzy PID controller gave a better and closer path for the desired path of yaw rate compared to using of the neural network controller.

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Topics: Yaw (68%), Control theory (60%), Vehicle dynamics (54%)

2 Citations


Open accessPosted ContentDOI: 10.21203/RS.3.RS-36541/V2
Xiaoqiang Sun1, Xiaoqiang Sun2, Wang Yujun2, Wang Yujun3  +3 moreInstitutions (3)
Abstract: Due to the bus characteristics of large quality, high center of gravity and narrow wheelbase, the research of its yaw stability control (YSC) system has become the focus in the field of vehicle system dynamics. However, the tire nonlinear mechanical properties and the effectiveness of the YSC control system are not considered carefully in the current research. In this paper, a novel adaptive nonsingular fast terminal sliding mode (ANFTSM) control scheme for YSC is proposed to improve the bus curve driving stability and safety on slippery roads. Firstly, the STI (Systems Technologies Inc.) tire model, which can effectively reflect the nonlinear coupling relationship between the tire longitudinal force and lateral force, is established based on experimental data and firstly adopted in the bus YSC system design. On this basis, a more accurate bus lateral dynamics model is built and a novel YSC strategy based on ANFTSM, which has the merits of fast transient response, finite time convergence and high robustness against uncertainties and external disturbances, is designed. Thirdly, to solve the optimal allocation problem of the tire forces, whose objective is to achieve the desired direct yaw moment through the effective distribution of the brake force of each tire, the robust least-squares allocation method is adopted. To verify the feasibility, effectiveness and practicality of the proposed bus YSC approach, the TruckSim-Simulink co-simulation results are finally provided. The co-simulation results show that the lateral stability of bus under special driving conditions has been significantly improved. This research proposes a more effective design method for bus YSC system based on a more accurate tire model.

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Topics: Terminal sliding mode (54%), Wheelbase (51%), Control system (50%)

1 Citations


References
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35 results found



Journal ArticleDOI: 10.1016/J.NEUCOM.2005.12.126
01 Dec 2006-Neurocomputing
Abstract: It is clear that the learning speed of feedforward neural networks is in general far slower than required and it has been a major bottleneck in their applications for past decades. Two key reasons behind may be: (1) the slow gradient-based learning algorithms are extensively used to train neural networks, and (2) all the parameters of the networks are tuned iteratively by using such learning algorithms. Unlike these conventional implementations, this paper proposes a new learning algorithm called e xtreme l earning m achine (ELM) for s ingle-hidden l ayer f eedforward neural n etworks (SLFNs) which randomly chooses hidden nodes and analytically determines the output weights of SLFNs. In theory, this algorithm tends to provide good generalization performance at extremely fast learning speed. The experimental results based on a few artificial and real benchmark function approximation and classification problems including very large complex applications show that the new algorithm can produce good generalization performance in most cases and can learn thousands of times faster than conventional popular learning algorithms for feedforward neural networks. 1

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Topics: Extreme learning machine (65%), Wake-sleep algorithm (63%), Competitive learning (63%) ... read more

8,861 Citations


Open accessBook
Richard Courant1, Kurt Friedrichs1, Hans Lewy2Institutions (2)
04 Sep 2011-
Abstract: Problems involving the classical linear partial differential equations of mathematical physics can be reduced to algebraic ones of a very much simpler structure by replacing the differentials by difference quotients on some (say rectilinear) mesh. This paper will undertake an elementary discussion of these algebraic problems, in particular of the behavior of the solution as the mesh width tends to zero. For present purposes we limit ourselves mainly to simple but typical cases, and treat them in such a way that the applicability of the method to more general difference equations and to those with arbitrarily many independent variables is made clear.

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1,830 Citations


Journal ArticleDOI: 10.1109/TCYB.2015.2411285
Wei He1, Yuhao Chen2, Zhao Yin2Institutions (2)
Abstract: This paper studies the tracking control problem for an uncertain ${n}$ -link robot with full-state constraints The rigid robotic manipulator is described as a multiinput and multioutput system Adaptive neural network (NN) control for the robotic system with full-state constraints is designed In the control design, the adaptive NNs are adopted to handle system uncertainties and disturbances The Moore–Penrose inverse term is employed in order to prevent the violation of the full-state constraints A barrier Lyapunov function is used to guarantee the uniform ultimate boundedness of the closed-loop system The control performance of the closed-loop system is guaranteed by appropriately choosing the design parameters Simulation studies are performed to illustrate the effectiveness of the proposed control

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Topics: Adaptive control (65%), Lyapunov redesign (56%), Adaptive system (54%)

819 Citations