Backstepping Fuzzy Sliding Mode Control for the Antiskid Braking System of Unmanned Aerial Vehicles

Zhang, Xi; Hui, Lin

doi:10.3390/electronics9101731

Cited by 13 publications

(3 citation statements)

References 35 publications

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“…e proposed fuzzy PID can improve the robustness but also increase the complexity of the control system [21]. As an effective control method to deal with the nonlinearity and robustness of ABS, sliding mode control still relies on the mathematical model of the ABS [22]. When the dynamic characteristics of the ABS are not modeled or the disturbance quantity is too large, the tracking response speed of the slip rate and the high-frequency tremor of braking torque restrict its application.…”

Section: Introductionmentioning

confidence: 99%

Research on Fuzzy Control Method of Automobile Antilock Braking System

2022

Security and Communication Networks

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The automobile Antilock Braking System (ABS) can prevent the wheel from locking by automatically adjusting the brake pressure at a high speed during emergency braking. While improving the braking effect of the car, it can also keep the steering ability of the car and ensure the safety of passengers. The automobile braking process has a strong nonlinearity and uncertainty, so exploring a simple and reliable control strategy is the focus of current research. Based on this, this paper proposes a variable-domain fuzzy proportional integral differential (PID) control strategy using a particle swarm optimization (PSO) algorithm to iteratively find the optimal theoretical domain. First, the PSO strategy is used to obtain the optimal regulation parameters. Then, the dynamic antiinterference ability of the control system is guaranteed by the variable theory domain fuzzy PID control, and the PID parameters and variable theory domain expansion factor are optimized by the PSO to increase the utilization degree of fuzzy rules initially set. Finally, compared with the traditional control strategy, the simulation and real vehicle test prove that the proposed system can significantly improve the control accuracy of abs. The proposed system has the advantages of small overshoot, short adjustment time, strong antiinterference ability, and practicability, which greatly improves the tracking performance of the ABS.

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Section: Introductionmentioning

confidence: 99%

Research on Fuzzy Control Method of Automobile Antilock Braking System

2022

Security and Communication Networks

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“…The aforementioned literature mainly implemented the LKC by controlling the steering system, which could influence the vehicle running stability. With the development of control theory, the sliding mode control methods were improved in theory and application greatly for the robustness and fast response [20,21]. Levant et al studied the k-order filter and time delay in sliding mode [22].…”

Section: Introductionmentioning

confidence: 99%

High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels Independently

Meng

Zhao

et al. 2021

Electronics

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In order to improve the output response and robustness of the lane keeping controller for the electric vehicle driven by four wheels independently (EV-DFWI), the article proposes a lane keeping controller based on the non-smooth finite-time (NoS-FT) control method. Firstly, a lane keeping control (LKC) model was built for the EV-DFWI. Secondly, a tracking method and error weight superposition method to track error computing for the lane keeping control based on the LKC model are proposed according to the lane line information. Thirdly, a NoS-FT controller was constructed for lane keeping. It is proved that the NoS-FT controller can stabilize the system by the direct Lyapunov method. Finally, the simulations were carried out to verify that the NoS-FT controller can keep the vehicle running in the desired lane with the straight road, constant curvature road, varied curvature road, and S-bend road. The simulation results show that the NoS-FT controller has better effectiveness than the PID controller. The contributions of this article are that two kinds of tracking error computing methods of lane keeping control are proposed to deal with different conditions, and a Non-FT lane keeping controller is designed to keep the EV-DFWI running in the desired lane suffering external disturbances.

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“…So, the elimination of the chattering phenomenon has attracted more and more attention recently. For example, adaptive sliding mode control [14,15], fuzzy sliding mode control [16], discrete-time sliding mode control [8,17], neural dynamic sliding mode control [18] and integral sliding mode control [19] have been proposed to mitigate the adverse effects of the chattering phenomenon. It has been reported that designing a continuous sliding mode control law to replace the discontinuous law, e.g., continuous TSMC (CTSMC) can reduce the impact of the chattering [20,21].…”

Section: Introductionmentioning

confidence: 99%

Design of Composite Disturbance Observer and Continuous Terminal Sliding Mode Control for Piezoelectric Nanopositioning Stage

et al. 2021

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The nonlinearities of piezoelectric actuators and external disturbances of the piezoelectric nanopositioning stage impose great, undesirable influences on the positioning accuracy of nanopositioning stage systems. This paper considers nonlinearities and external disturbances as a lumped disturbance and designs a composite control strategy for the piezoelectric nanopositioning stage to realize ultra-high precision motion control. The proposed strategy contains a composite disturbance observer and a continuous terminal sliding mode controller. The composite disturbance observer can estimate both periodic and aperiodic disturbances so that the composite control strategy can deal with the disturbances with high accuracy. Meanwhile, the continuous terminal sliding mode control is employed to eliminate the chattering phenomenon and speed up the convergence rate. The simulation and experiment results show that the composite control strategy achieves accurate estimation of different forms of disturbances and excellent tracking performance.

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Backstepping Fuzzy Sliding Mode Control for the Antiskid Braking System of Unmanned Aerial Vehicles

Cited by 13 publications

References 35 publications

Research on Fuzzy Control Method of Automobile Antilock Braking System

Research on Fuzzy Control Method of Automobile Antilock Braking System

High Velocity Lane Keeping Control Method Based on the Non-Smooth Finite-Time Control for Electric Vehicle Driven by Four Wheels Independently

Design of Composite Disturbance Observer and Continuous Terminal Sliding Mode Control for Piezoelectric Nanopositioning Stage

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