Application of sliding-mode theory to direct yaw-moment control

Yoshioka, T.; Adachi, Taiji; Butsuen, Tetsuro; Okazaki, Haruki; Mochizuki, Hiroyuki

doi:10.1016/s0389-4304(99)00050-8

Cited by 41 publications

(23 citation statements)

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“…Some control strategies and algorithms of the DYC system development have been presented in the current literature, such as sliding mode control, 4 linear quadratic regulator, 5 fuzzy control, 6,7 and model predictive control. 8 Besides, some integrated control including DYC and steering was developed.…”

Section: Introductionmentioning

confidence: 99%

A driver model–based direct yaw moment controller for in-wheel motor electric vehicles

Wang

Zhuang

Wei

et al. 2019

Advances in Mechanical Engineering

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In this article, a driver model–based direct yaw moment controller, selected as the upper controller, is developed, of which the control target is determined through a reference driver model in accordance with the driver’s intention. The sliding surface is chosen by the difference between the desired yaw rate and the real output yaw rate. Then, the desired yaw moment is calculated by the sliding mode control. In the lower controller, a novel control torque distribution strategy is designed based on the analysis of the tire characteristics. In addition, an admissible control set of the control torques is calculated in real time through an embedded tire model “UniTire.” Finally, a driver-in-the-loop experiment, via the driving simulator, is conducted to verify the proposed direct yaw moment controller.

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Section: Introductionmentioning

confidence: 99%

A driver model–based direct yaw moment controller for in-wheel motor electric vehicles

Wang

Zhuang

Wei

et al. 2019

Advances in Mechanical Engineering

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“…Due to rapid convergence and good disturbance rejection properties, the sliding mode control (SMC) has also been widely applied to DYC, such as [2]- [5]. In [3], the SMC theory is applied to control vehicle manoeuvering by constructing a sliding mode (SM) controller, which shows good robustness under various driving conditions including changes in velocity, road friction and vehicle weight. Meanwhile, the SM observers are also used in [4] for identifying and estimating tyre's longitudinal force, vehicle sideslip angle and velocity.…”

Section: Introductionmentioning

confidence: 99%

Direct yaw-moment control of in-wheel electric vehicle by sliding mode technique

Zhang

Ding

Jiang

2016

2016 IEEE International Conference on Industrial Technology (ICIT)

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In the paper, a direct yaw-moment control (DYC) strategy is proposed for in-wheel electric vehicles by using second-order sliding mode control technique. The ideal sideslip angle at the center of gravity and yaw rate are first calculated based on a linear two-degree of freedom vehicle model. On this basis, the actual sideslip angle is identified and estimated by constructing a state observer. Then a conventional discontinuous sliding mode DYC controller is first constructed to guarantee that the sideslip angle and yaw rate will approach the ideal ones as closely as possible. To avoid the chattering problem existing in the conventional sliding mode controller, a secondorder sliding mode controller is further designed by taking the derivative of the controller as the new control, which implies that the actual control can be the integration of the second-order sliding mode controller. Simulation results verify the effectiveness of the proposed method.Index Terms-Sliding mode, direct yaw-moment control, inwheel electric vehicle.

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“…DYC systems, including differential braking and differential traction, provide a difference in braking/traction forces on the left/right sides of the vehicle to generate the external yaw moment. [4][5][6] Despite their considerable enhancement in vehicle handling and safety, DYC systems have some weaknesses; 7 their actuation may disturb the driver and, more importantly, in the case of differential braking systems, may lead to longer stopping distances during severe brake-in-turn manoeuvres. They also have limited performance in m-split conditions.…”

Section: Introductionmentioning

confidence: 99%

An integrated vehicle dynamic control strategy for three-wheeled vehicles

Goodarzi

Soltani

Shojaeefard

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part K:

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Three-wheeled vehicles can address many congestion, parking and pollution issues associated with urban transportation. Previous studies about control of dynamics of three-wheeled vehicles mostly focus on roll dynamics control. This study considers simultaneous control of roll and yaw dynamics. For this purpose, an integrated system has been developed to coordinate active front steering, direct yaw moment control and active tilt systems. The challenges in the control system design arise in finding a compromise between improving vehicle dynamic behaviour and minimizing the actuators' torque requirements. This study first introduces the vehicle model and then, using optimal control theory, develops an integrated control strategy that works based on the feedback signals from the vehicle's state variables and the steering input feed-forward. Using a comprehensive nonlinear model, the simulation results illustrate considerable improvements in vehicle handling through the integrated control system in comparison with the pure active front steering, direct yaw moment control or active tilt systems.

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Application of sliding-mode theory to direct yaw-moment control

Cited by 41 publications

References 0 publications

A driver model–based direct yaw moment controller for in-wheel motor electric vehicles

A driver model–based direct yaw moment controller for in-wheel motor electric vehicles

Direct yaw-moment control of in-wheel electric vehicle by sliding mode technique

An integrated vehicle dynamic control strategy for three-wheeled vehicles

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