Control of chaos in vehicle lateral motion using the sliding mode variable structure control

This article focuses on realizing the chaos control of a permanent magnet synchronous motor by combining a pseudo-linear inverse system of the permanent magnet synchronous motor and synthetical sliding mode control. First, the permanent magnet synchronous motor dimensionless nonlinear mathematical model is established, and its chaos is analyzed by the Lyapunov exponent method. The permanent magnet synchronous motor parameter range when chaos appears is obtained. Then, the inverse system decoupling method is used to analyze the reversibility of the permanent magnet synchronous motor system, and the permanent magnet synchronous motor inverse system is obtained, which is compounded with the original system into a pseudo-linear inverse system that consists of two independent subsystems, including a first-order d-axis current system and a second-order rotational speed system, to decouple the permanent magnet synchronous motor system. Third, the first-order d-axis subsystem is controlled by sliding mode control with a hyperbolic tangent function as the switching function, and the second-order speed subsystem is controlled by super-twisting sliding mode control with a hyperbolic tangent function as the switching function, which is called the synthetical sliding mode control. The permanent magnet synchronous motor pseudo-linear inverse system is controlled by using the synthetical sliding mode to realize the chaos control of the permanent magnet synchronous motor. Finally, three kinds of permanent magnet synchronous motor chaos control systems are established in MATLAB/Simulink software, and the experimental tests are implemented. The results show that the proposed permanent magnet synchronous motor chaos control system has good performance, which can effectively eliminate chattering in sliding mode control and control chaos in the permanent magnet synchronous motor system.

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“…Then, the Lyapunov exponent of system (5) can be deduced as follows (Chen et al, 2019).…”

Section: Pmsm Nonlinear Mathematical Model and Chaos Analysismentioning

confidence: 99%

Research on chaos control of permanent magnet synchronous motor based on the synthetical sliding mode control of inverse system decoupling

Zhang

Gong

Shi

et al. 2020

Journal of Vibration and Control

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“…Aiming at the time delay of yaw angle speed in the process of lane keeping, Feng et al introduced an adaptive time coefficient related to the road adhesion coefficient in the vehicle-road dynamic model and used the sliding mode control algorithm to track yaw rate [13]. Chen et al designed a controller based on the sliding mode variable structure control (SM-VSC) method to decrease chattering and further improve lateral stability of the vehicle under extreme operating conditions; the adaptive power reaching law was realized by using a fuzzy control method [14]. Bai et al applied nonlinear model predictive control (NMPC) into the path tracking control of a robot, took the discrete nonlinear error model as the nonlinear error of the prediction model, and used the feed-forward information of the reference path [15].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Lane Tracking Control of the Commercial Vehicle Based on RMPC Algorithm Considering the State of Preceding Vehicle

Tang

Jiang

et al. 2022

Machines

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In order to improve the adaptability of the lane keeping control system to complex environments, a dynamic lane tracking control strategy of the commercial vehicle based on the robust model predictive control (RMPC) algorithm is proposed considering the state of the preceding vehicle. An RMPC controller is designed with path deviation and control increment as the objective function. The model predictive control problem is transformed into a min–max optimization problem. The linear matrix inequality (LMI) is used for the optimal solution to obtain the optimal control quantity. The strategy to improve the safety and comfort dynamically in the process of lane keeping is designed by adjusting the weight coefficient matrix of RMPC based on fuzzy theory. The results of the simulation and HiL test show that the RMPC controller can meet the requirement of adjusting the lane tracking process dynamically according to the state of the preceding vehicle, which keeps the balance between safety and comfort.

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“…In [22], the authors proposed a non-linear control scheme based on backstepping and SMC for the self-driving car's steering control. Another study investigated lateral dynamics control of the vehicle by employing variable structure sliding mode [26]. Another approach based on SMC and gain scheduling is presented in [27] which also used disturbance observer for the trajectory tracking problem of the vehicle.…”

Section: Introductionmentioning

confidence: 99%

Fixed Settling Time Control for Self-Driving Car: Two-Timescales Approach

et al. 2022

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This article involves the design of a novel path tracking control technique for the self-driving car. Fixed settling time sliding mode control (FSTSMC) with barrier Lyapunov function is implemented to deal with the non-linear lateral dynamics and to ensure stable standard double-lane-change (DLC) maneuver of self-driving cars in the presence of unknown lateral tire forces and parametric uncertainties. A two-time scale-based approach is employed to deal with the slow and fast dynamics of the car separately. The proposed control scheme efficacy is investigated using simulations based on CarSim and Simulink. The simulation results validate the path-tracking ability of the proposed controller for self-driving cars while accomplishing the stable double-lane-change maneuver at various forward speeds. INDEX TERMSAutonomous vehicles, barrier function, CarSim, double-lane-change (DLC), fixed settling time sliding mode control (FSTSMC), lateral dynamics, self-driving car.

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Control of chaos in vehicle lateral motion using the sliding mode variable structure control

Cited by 13 publications

References 18 publications

Research on chaos control of permanent magnet synchronous motor based on the synthetical sliding mode control of inverse system decoupling

Research on chaos control of permanent magnet synchronous motor based on the synthetical sliding mode control of inverse system decoupling

Dynamic Lane Tracking Control of the Commercial Vehicle Based on RMPC Algorithm Considering the State of Preceding Vehicle

Fixed Settling Time Control for Self-Driving Car: Two-Timescales Approach

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