Fractional Order Adaptive Fast Super-Twisting Sliding Mode Control for Steer-by-Wire Vehicles with Time-Delay Estimation

Yang, Yong Ming; Ye, Yan; Xu, Xiaowei

doi:10.3390/electronics10192424

Cited by 6 publications

(11 citation statements)

References 36 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It is noteworthy that the tracking error, ϕ 1 (t), is formally defined in ( 26), the estimation error, e 1 (t), is precisely delineated in (24), and the lumped uncertainty is exhibited in (6). Furthermore, the lumped uncertainty naturally resides within the plant model, whereas the estimation error serves as the foundation for designing the AESO, and the tracking error is utilized in the design of the AFSEFBC.…”

Section: Construction Of Afsefbcmentioning

confidence: 99%

“…According to the AESO (24), the AFSEFBC, u(t), for the dynamical error system in ( 27) is designed in (24),…”

Section: Construction Of Afsefbcmentioning

confidence: 99%

“…Nevertheless, this strategy does not account for uncertainty estimation and compensation, and the selection of control parameters can be complex. In another recent study [24], the time-delayed knowledge of control input and system states is utilized to compute uncertainties. However, this approach necessitates precise knowledge of the past values of control input and system states, thereby posing practical implementation challenges.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive Active Disturbance Rejection Control for Vehicle Steer-by-Wire under Communication Time Delays

Rsetam,

Zheng,

Cao

et al. 2024

ASI

View full text Add to dashboard Cite

In this paper, an adaptive active disturbance rejection control is newly designed for precise angular steering position tracking of the uncertain and nonlinear SBW system with time delay communications. The proposed adaptive active disturbance rejection control comprises the following two elements: (1) An adaptive extended state observer and (2) an adaptive state error feedback controller. The adaptive extended state observer with adaptive gains is employed for estimating the unmeasured velocity, acceleration, and compound disturbance which consists of system parameter uncertainties, nonlinearities, exterior disturbances, and time delay in which the observer gains are dynamically adjusted based on the estimation error to enhance estimation performances. Based on the accurate estimations of the adaptive extended state observer, the proposed adaptive full state error feedback controller is equipped with variable gains driven by the tracking error to develop control precision. The integration of the advantages of the adaptive extended state observer and the adaptive full state error feedback controller can improve the dynamic transient and static steady-state effectiveness, respectively. To assess the superior performance of the proposed adaptive active disturbance rejection control, a comparative analysis is conducted between the proposed control scheme and the classical active disturbance rejection control in two different cases. It is worth noting that the active disturbance rejection control serves as a benchmark for evaluating the performance of the proposed control approach. The results from the comparison studies executing two simulated cases validate the superiority of the suggested control, in which estimation, tracking response rate, and steering angle precision are greatly improved by the scheme proposed in this article.

show abstract

Section: Construction Of Afsefbcmentioning

confidence: 99%

“…According to the AESO (24), the AFSEFBC, u(t), for the dynamical error system in ( 27) is designed in (24),…”

Section: Construction Of Afsefbcmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive Active Disturbance Rejection Control for Vehicle Steer-by-Wire under Communication Time Delays

Rsetam,

Zheng,

Cao

et al. 2024

ASI

View full text Add to dashboard Cite

show abstract

“…Then, the SbW auto systems show considerable advantages over conventional steering arrangements; however there are also a number of limitations. For this reason, a controller is developed and presented in this paper to ensure the reliability and the robustness of these systems [21,28,29,33,34].…”

Section: Modeling and Problem Statementmentioning

confidence: 99%

Robust Controller Design for Steer-by-Wire Systems in Vehicles

Akchioui

Fezazi

et al. 2022

Lecture Notes in Electrical Engineering

View full text Add to dashboard Cite

The steer-by-wire (SbW) technology enables to facilitate better steering control as it is based on an electronic control technique. The importance of this technology lies in replacing the traditional mechanical connections with steering auxiliary motors and electronic control and sensing units as these systems are of paramount importance with new electric vehicles. Then, this research paper discusses some difficulties and challenges that exist in this area and overcomes them by presenting some results. These results meet the SbW’s robust performance requirements and compensate oscillations from the moving part of the steering rack in the closed-loop system model: modeling, analysis and design. Thus, the issue of robust control for nonlinear systems with disturbances is addressed here. Finally, the results are validated through detailed simulations.

show abstract

“…While time delays are recognized as significant contributors to instability and poor performance in various systems [24], their specific impact on SBW vehicles has received limited attention in the research. Recent efforts, such as the work by Yang et al [25], have focused on introducing adaptive fast super twisting sliding mode control (SMC) based on time-delay estimation to mitigate the challenges posed by inaccurate modeling and variable perturbations. To tackle challenges arising from significant random delays in the steering systems, Zhang et al [26] proposed a layered time-delay robust control strategy.…”

Section: Introductionmentioning

confidence: 99%

Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays

Rsetam,

Khawwaf,

Zheng

et al. 2024

WEVJ

View full text Add to dashboard Cite

The modern steer-by-wire (SBW) systems represent a revolutionary departure from traditional automotive designs, replacing mechanical linkages with electronic control mechanisms. However, the integration of such cutting-edge technologies is not without its challenges, and one critical aspect that demands thorough consideration is the presence of nonlinear dynamics and communication network time delays. Therefore, to handle the tracking error caused by the challenge of time delays and to overcome the parameter uncertainties and external perturbations, a robust fast finite-time composite controller (FFTCC) is proposed for improving the performance and safety of the SBW systems in the present article. By lumping the uncertainties, parameter variations, and exterior disturbance with input and output time delays as the generalized state, a scaling finite-time extended state observer (SFTESO) is constructed with a scaling gain for quickly estimating the unmeasured velocity and the generalized disturbances within a finite time. With the aid of the SFTESO, the robust FFTCC with the scaling gain is designed not only for ensuring finite-time convergence and strong robustness against time delays and disturbances but also for improving the speed of the convergence as a main novelty. Based on the Lyapunov theorem, the closed-loop stability of the overall SBW system is proven as a global uniform finite-time. Through examination across three specific scenarios, a comprehensive evaluation is aimed to assess the efficiency of the suggested controller strategy, compared with active disturbance rejection control (ADRC) and scaling ADRC (SADRC) methods across these three distinct driving scenarios. The simulated results have confirmed the merits of the proposed control in terms of a fast-tracking rate, small tracking error, and strong system robustness.

show abstract

Fractional Order Adaptive Fast Super-Twisting Sliding Mode Control for Steer-by-Wire Vehicles with Time-Delay Estimation

Cited by 6 publications

References 36 publications

Adaptive Active Disturbance Rejection Control for Vehicle Steer-by-Wire under Communication Time Delays

Adaptive Active Disturbance Rejection Control for Vehicle Steer-by-Wire under Communication Time Delays

Robust Controller Design for Steer-by-Wire Systems in Vehicles

Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays

Contact Info

Product

Resources

About