Fuzzy Scheduled Optimal Control of Integrated Vehicle Braking and Steering Systems

Mirzaei, Mehdi; Mirzaeinejad, Hossein

doi:10.1109/tmech.2017.2749002

Cited by 70 publications

(31 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to develop the wheel slip control law, the cheap strategy is employed in which the control inputs T bi are not penalized. 32 Accordingly, a point-wise performance index minimizing the next instant tracking errors is defined as follows…”

Section: Design Of Ass Controllermentioning

confidence: 99%

“…Note that the state constraints have been transformed to the equivalent input constraints, which should be applied with consideration of actuator force limitations. For comparison, the unconstrained version of ASS controller (32) is also employed in the integration with ABS. In this case, the weighting factors of tyre deflection variation as well as roll, pitch and bounce motions are tuned by trial and error to prevent the separation of the wheel from the road and to remove the extra tyre deflection.…”

Section: Design Of Ass Controllermentioning

confidence: 99%

“…where u i is the unconstrained control input (32). Note that the limitation of actuator force is dropped in the controller (51).…”

mentioning

confidence: 99%

See 2 more Smart Citations

Novel constrained control of active suspension system integrated with anti-lock braking system based on 14-degree of freedom vehicle model

Aghasizade

Mirzaei

Rafatnia

2018

Proceedings of the Institution of Mechanical Engineers, Part K:

Self Cite

View full text Add to dashboard Cite

This paper deals with a novel method for integration of the active suspension system and the anti-lock braking system. In the proposed method, a new nonlinear controller with state constraints is developed for the active suspension system based on the response prediction of 14-degree of freedom vehicle model. The proposed controller isolates the vehicle from road roughness in normal conditions and assists the anti-lock braking system by ensuring a good contact between the tyre and road during hard braking. In addition, the tyre deflection is limited to prevent the threat of tyre bursting. To develop the active suspension system controller, at first, a performance index consisting of a weighted combination of predicted responses of suspension system is expanded as a function of current control input. At the same time, the state constraints of tyre normal force and tyre deflection are transformed to the equivalent constraints of control input by the same prediction approach. Then, the control law is found by minimizing the expanded performance index in the presence of input constraints. The Karush-Kuhn-Tucker theorem is employed to solve the performed constrained optimization problem analytically. The performance of the proposed active suspension system controller integrated with the designed nonlinear anti-lock braking system controller is evaluated for a full vehicle model including roll and pitch motions during braking on irregular random roads. The results show that both the body acceleration and the vehicle stopping distance are decreased for the proposed integrated strategy compared with other conventional strategies.

show abstract

Section: Design Of Ass Controllermentioning

confidence: 99%

Section: Design Of Ass Controllermentioning

confidence: 99%

See 1 more Smart Citation

Novel constrained control of active suspension system integrated with anti-lock braking system based on 14-degree of freedom vehicle model

Aghasizade

Mirzaei

Rafatnia

2018

Proceedings of the Institution of Mechanical Engineers, Part K:

Self Cite

View full text Add to dashboard Cite

show abstract

“…The kernel of the EDS is the control algorithm. Some research uses fuzzy logic to achieve the specific tasks in various conditions and improve directional stability [11,12]. In previous studies [13,14], the concept of torque distributions was proposed by using robust motion control based on fast and accurate in-wheel motor dynamics.…”

Section: Related Studiesmentioning

confidence: 99%

A New Control Strategy for an Electronic Differential System for Urban Electric Vehicles

Chang

Chen

et al. 2018

Inventions

View full text Add to dashboard Cite

This paper presents a control strategy that is applied in turning control for decentralized electric vehicles known as the electronic differential system. The conventional mechanical differential has drawbacks, such as bulkiness and slow response. The electric system response is not only ten times faster than its mechanical counterpart, but its accurate control even reduces the loss of power from the motor to the wheel. Through the turning radius from the steering angle command that the driver gives, the controller can distribute torque to each wheel. After controlling each wheel's rotation, the vehicle can turn in neutral steering. The results show that this strategy can be effectively employed on urban roads.

show abstract

“…[24,25]. = NB, N M, NS, ZO, PS, PM, PḂ e = NB, N M, NS, ZO, PS, PM, PB k p,i,d(e,ė) = NB, N M, NS, ZO, PS, PM, PB (8) where, N means negative, P means positive, B means big, M means middle, S means small and ZO means zero.…”

mentioning

confidence: 99%

Fuzzy Sliding Mode Wheel Slip Ratio Control for Smart Vehicle Anti-Lock Braking System

2019

View full text Add to dashboard Cite

With the development of in-wheel technology (IWT), the design of the electric vehicles (EV) is getting much improved. The anti-lock braking system (ABS), which is a safety benchmark for automotive braking, is particularly important. Installing the braking motor at each fixed position of the wheel improves the intelligent control of each wheel. The nonlinear ABS with robustness performance is highly needed during the vehicle’s braking. The anti-lock braking controller (CAB) designed in this paper considered the well-known adhesion force, the resistance force from air and the wheel rolling friction force, which bring the vehicle model closer to the real situation. A sliding mode wheel slip ratio controller (SMWSC) is proposed to yield anti-lock control of wheels with an adaptive sliding surface. The vehicle dynamics model is established and simulated with consideration of different initial braking velocities, different vehicle masses and different road conditions. By comparing the braking effects with various CAB parameters, including stop distance, braking torque and wheel slip ratio, the SMWSC proposed in this paper has superior fast convergence and stability characteristics. Moreover, this SMWSC also has an added road-detection module, which makes the proposed braking controller more intelligent. In addition, the important brain of this proposed ABS controller is the control algorithm, which can be used in all vehicles’ ABS controller design.

show abstract

Fuzzy Scheduled Optimal Control of Integrated Vehicle Braking and Steering Systems

Cited by 70 publications

References 23 publications

Novel constrained control of active suspension system integrated with anti-lock braking system based on 14-degree of freedom vehicle model

Novel constrained control of active suspension system integrated with anti-lock braking system based on 14-degree of freedom vehicle model

A New Control Strategy for an Electronic Differential System for Urban Electric Vehicles

Fuzzy Sliding Mode Wheel Slip Ratio Control for Smart Vehicle Anti-Lock Braking System

Contact Info

Product

Resources

About