Experimentations on the adaptive sliding mode control for a trajectory tracking applied on a bi-steerable car

Tchenderli-Braham, S. A.; Hamerlain, F.; Saadia, Nadia

doi:10.1504/ijvd.2015.073127

Cited by 8 publications

(2 citation statements)

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“…The generation of tire side forces (which exist only because of "friction" between the tire and the road) depends largely on the vertical load, but also on the tire width, size, and pressure, which is obviously related to the area of contact between tire tread and the road [12]. The forces generated at the tire-track interface are mainly generated by two mechanisms: adhesion and hysteresis.…”

Section: Slip Angle and Lateral Forcementioning

confidence: 99%

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Analyzation of the Application Scenarios of Ackerman Geometry based on Vehicle Steering Model

Sui¹,

Zhang²

2023

HSET

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A complete set of models about vehicle steering are established to testify the feasibility of Ackerman geometry applied in various scenarios. The relationship between different parameters from cars and how they affect the steering ability is studied by Python. Linear model and nonlinear model are built to adapt to small and big slip angle. The mechanism section is tested with data from two types of cars: BMW M3 and Chevrolet Cavalier. We find that M3 has a better steering capability since it can generate more lateral force with less sideslip. The relationship between slip angle and lateral force illuminates our research about Ackerman geometry. The result indicates that regular Ackerman principle is beneficial in the big wheel steering angle with low-speed conditions, because it can reduce the slip angle and tire-road interaction, making cornering smoother and reducing tire wear. However, in small wheel steering angle with high-speed conditions, the Ackerman principle has some limitations and should be amended, which adds to the slip angle and thus increase the lateral force to get better steering. That is basically the reason why Reverse Ackerman is widely applied in Formula 1.

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Section: Slip Angle and Lateral Forcementioning

confidence: 99%

“…Figure 4. Lateral Force vs Slip Angle for a Typical Tire.For the specific relationship between lateral force and the slip angle, we build following models:(12) …”

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confidence: 99%

Analyzation of the Application Scenarios of Ackerman Geometry based on Vehicle Steering Model

Sui¹,

Zhang²

2023

HSET

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A novel robust event‐triggered fault tolerant automatic steering control approach of autonomous land vehicles under in‐vehicle network delay

Zhang

et al. 2021

Intl J Robust & Nonlinear

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This paper proposes a novel robust event-triggered fault tolerant automatic steering control strategy for autonomous land vehicles to achieve path tracking and vehicle lateral motion control under in-vehicle network delay. From the practical point of view, the parameter uncertainties, time delay, and actuator fault are simultaneously introduced to make the designed controller robust to more extensive and challenging driving conditions. A novel polytope reduction and norm-bounded uncertainty reduction method is used to effectively handle the time-varying velocity and tire cornering stiffness uncertainties. Then, the uncertain vehicle model can be reconstructed as an uncertain network control system model with time delay and actuator fault. Due to the inevitable time delay and actuator fault, a new cubic absolute-value Lyapunov function is developed to guarantee the asymptotical stability of the closed control system with the H∞ performance, and the modified project-based adaptive law is applied to strengthen the fault tolerant ability. Furthermore, a progressive event-triggered mechanism is proposed for the collaborative design of robust fault tolerant automatic steering controller, which can signally improve the communication resource utilization of the limited bandwidth in-vehicle network. Finally, the performance comparisons of different controllers are presented. These results prove that the proposed controller can simultaneously guarantee the path tacking performance and lateral dynamics stability, and save the communication resource of the in-vehicle network. K E Y W O R D Sevent-triggered mechanism, fault tolerant, parameter uncertainties, robust automatic steering control, time delay INTRODUCTIONRecently, as a progressive technology of the automotive industry, autonomous land vehicles (ALVs) have attracted growing attention due to their potential applications in civilian and military fields. 1,2 The ALVs can be used to improve vehicle

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LPV/H∞ Controller Design for Path Tracking of Autonomous Ground Vehicles Through Four-Wheel Steering and Direct Yaw-Moment Control

Hang

Chen

Luo

2019

Int.J Automot. Technol.

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Experimentations on the adaptive sliding mode control for a trajectory tracking applied on a bi-steerable car

Cited by 8 publications

References 0 publications

Analyzation of the Application Scenarios of Ackerman Geometry based on Vehicle Steering Model

Analyzation of the Application Scenarios of Ackerman Geometry based on Vehicle Steering Model

A novel robust event‐triggered fault tolerant automatic steering control approach of autonomous land vehicles under in‐vehicle network delay

LPV/H∞ Controller Design for Path Tracking of Autonomous Ground Vehicles Through Four-Wheel Steering and Direct Yaw-Moment Control

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