Autonomous Electric-Vehicle Control Using Speed Planning Algorithm and Back-Stepping Approach

Bacha, S.; Saadi, R.; Ayad, Mohamed Yacine; Sahraoui, Mohamed; Laadjal, Khaled; Cardoso, António J. Marques

doi:10.3390/en16052459

Cited by 4 publications

(2 citation statements)

References 44 publications

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“…One of the six voltage vectors of the inverter can be appropriately chosen to control the position and magnitude of the stator flux and indirectly the rotor flux, depending on the variation in the stator flux [26][27][28].…”

Section: The Dtc-svm Strategymentioning

confidence: 99%

Real-Time Implementation of Sensorless DTC-SVM Applied to 4WDEV Using the MRAS Estimator

Boudallaa,

Belkhadir,

Chennani

et al. 2023

Energies

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This article presents the DTC-SVM approach for controlling a sensorless speed induction motor. To implement this approach, a practical prototype is built using a microcontroller, an embedded GPS module, and a memory card to collect real-time data during the driving route, such as road geographical data, speed, and time. These data are then utilized in the laboratory to implement the control law (DTC-SVM) on the electric vehicle. The d-q model of the induction motor is first presented to explain the requirements for calculating the rotor speed. Then, an adaptive model reference system speed estimator is developed based on the rotor flux, along with a controller and DTC-SVM strategy, which are implemented using the dSpace 1104 board to achieve the desired performance. The simulation results demonstrate satisfactory speed regulation with the proposed system. In this study too, an electronic differential system is modeled for the four wheels of an electric vehicle equipped with an integrated motor, all controlled by the DTC-SVM strategy. Vehicle speed and electrical vehicle steering angle variations, as well as wheel speeds estimated by code system, are verified using MATLAB/Simulink simulations.

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Section: The Dtc-svm Strategymentioning

confidence: 99%

Real-Time Implementation of Sensorless DTC-SVM Applied to 4WDEV Using the MRAS Estimator

Boudallaa,

Belkhadir,

Chennani

et al. 2023

Energies

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show abstract

“…Maintaining the stability of solutions in contemporary nonlinear dynamical systems has been a major challenge in their operation [1][2][3][4]. Conventionally [5][6][7][8][9][10][11][12][13][14][15][16][17], Lyapunov's second method is used to study the stability and optimization of solutions in systems composed of ordinary differential equations.…”

Section: Introductionmentioning

confidence: 99%

A Method of Qualitative Analysis for Determining Monotonic Stability Regions of Particular Solutions of Differential Equations of Dynamic Systems

Lyubimov

2023

Mathematics

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Developing stability analysis methods for modern dynamical system solutions has been a significant challenge in the field. This study aims to formulate a qualitative analysis approach for the monotone stability region of a specific solution to a single differential equation within a dynamical system. The system in question comprises two first-order nonlinear ordinary differential equations of a particular kind. The method proposed hinges on applying elements of combinatorics to the traditional mathematical investigation of a function with a single independent variable. This approach enables the exact determination of the different qualitative scenarios in which the desired solution changes, under the assumption that the function values monotonically diminish from a specified value down to a finite zero. This paper outlines the creation and decomposition of the monotone stability region associated with the solution under consideration.

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Research on trajectory tracking control of driverless cars based on game theory

Li,

Tian,

Song

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part D:

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The purpose of this game theory-based trajectory tracking control study of driverless cars is to resolve the conflicting problems of trajectory precision in tracking and drive stability for driverless cars in lane change situations. The general plan for control is made. The lateral control is based on the theory of evolutionary games, and the linear quadratic regulator (LQR) is a method for linear quadratic control with predictive feedforward. When it comes to dynamic systems that vary over time, trajectory tracking precision and drive stability are both sides of the same coin. The payoff matrix is first constructed to determine the utility function, followed by the dynamical replication system to evolve the weights of both sides, and finally the optimal an equilibrium strategy for weight allocation between the two sides of the game to achieve the optimal objective function is determined. The longitudinal dual PID controller has been designed based on proportional, differential, and integral theory. The results reveal that the developed controller outperforms the LQR controller in terms of tracking outcomes, as well as path tracking precision and drive stability.

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Autonomous Electric-Vehicle Control Using Speed Planning Algorithm and Back-Stepping Approach

Cited by 4 publications

References 44 publications

Real-Time Implementation of Sensorless DTC-SVM Applied to 4WDEV Using the MRAS Estimator

Real-Time Implementation of Sensorless DTC-SVM Applied to 4WDEV Using the MRAS Estimator

A Method of Qualitative Analysis for Determining Monotonic Stability Regions of Particular Solutions of Differential Equations of Dynamic Systems

Research on trajectory tracking control of driverless cars based on game theory

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