Lateral dynamics emulation via a four-wheel steering vehicle

Akar, Mehmet; Kalkkuhl, Jens

doi:10.1080/00423110701632925

Cited by 24 publications

(17 citation statements)

References 15 publications

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“…Now, considering the system of equations (9) and (10), and equations (16) and (18), the control input is obtained as…”

Section: Izvxmentioning

confidence: 99%

“…Using sliding mode control based on Lyapunov stability, proper results of stability and path tracking are presented in literature. [10][11][12][13][14] However, its integration with the adaptive control law, 15 fuzzy systems, 16 adaptive fuzzy systems, 17 the proportional integral (PI) controller 18 and fuzzy neural networks (FNNs) 19 improved the results compared to the classical sliding mode controller. In Janbakhsh et al, 15 switching gain is updated based on the sliding surface.…”

Section: Introductionmentioning

confidence: 99%

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Lateral control of an autonomous vehicle using integrated backstepping and sliding mode controller

Norouzi

Masoumi

Barari

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part K:

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In this paper, a novel Lyapunov-based robust controller by using meta-heuristic optimization algorithm has been proposed for lateral control of an autonomous vehicle. In the first step, double lane change path has been designed using a fifth-degree polynomial (quantic) function and dynamic constraints. A lane changing path planning method has been used to design the double lane change manoeuvre. In the next step, position and orientation errors have been extracted based on the two-degree-of-freedom vehicle bicycle model. A combination of sliding mode and backstepping controllers has been used to control the steering in this paper. Overall stability of the combined controller has been analytically proved by defining a Lyapunov function and based on Lyapunov stability theorem. The proposed controller includes some constant parameters which have effects on controller performance; therefore, particle swarm optimization algorithm has been used for finding optimum values of these parameters. The comparing result of the proposed controller with backstepping controller illustrated the better performance of the proposed controller, especially in the low road frictions. Simulation of designed controllers has been conducted by linking CarSim software with Matlab/Simulink which provides a nonlinear full vehicle model. The simulation was performed for manoeuvres with different durations and road frictions. The proposed controller has outperformed the backstepping controller, especially in low frictions.

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“…Now, considering the system of equations (9) and (10), and equations (16) and (18), the control input is obtained as…”

Section: Izvxmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Lateral control of an autonomous vehicle using integrated backstepping and sliding mode controller

Norouzi

Masoumi

Barari

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part K:

View full text Add to dashboard Cite

show abstract

“…Considering the importance of yaw stability in a vehicle, research on the development of unwanted yaw rejection mechanisms has been conducted in both academic communities and automotive industries. [1][2][3] Various methods and actuators in yaw stability systems have been developed, such as the traction-control system, 4,5 anti-lock braking system, 6,7 four-wheel steering controls, [8][9][10][11] electronic stability program 12,13 and active front-wheel steering (AFS) system. 14 In an armored vehicle, unwanted yaw motion can be caused by the firing impulse acting on the center of the weapon platform.…”

Section: Introductionmentioning

confidence: 99%

Modeling, validation and firing-on-the-move control of armored vehicles using active front-wheel steering

Kadir

Hudha

Zamzuri

et al. 2015

Journal of Defense Modeling & Simulation

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It is a well-known fact that an armored vehicle will lose its directional stability when firing a large-caliber gun while moving. The instability is caused by the impulse force from firing, acting at the center of a weapons platform that produces a yaw moment at the center of gravity of the armored vehicle. In order to improve the stability, this paper introduces a firing-on-the-move technology for armored vehicles using an active front-wheel steering (AFS) system. The AFS system is proposed to maintain the directional stability of the armored vehicle by providing an electronically controlled correction to the steering mechanism. The steering correction is designed to reject the unwanted yaw motion and bring the vehicle back to its intended direction of travel after firing. The proposed control strategy of the AFS system in this study consists of yaw rate feedback with lateral force rejection control. The AFS system controller is developed on a validated 10-degrees-of-freedom armored vehicle. The results indicate that the developed control strategy can effectively maintain the directional stability, in terms of yaw and lateral motions, of the armored vehicle after firing. The superiority of the proposed AFS system controller is also evaluated by comparing its performance to an AFS system without lateral force rejection control as well as to a conventional armored vehicle without AFS.

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“…Sliding mode variable structure control(SMVSC) is essentially a nonlinear control method with the ability of rapid response, simple physical implementation, time varying system parameters and strong robustness under external disturbance, and many other advantages, providing an effective way for the complicated working condition of high performance of vehicle dynamics stability control [7]. Aker designed four-wheel steering sliding mode robust controller in integrated multiple system parameter perturbation cases [8]. Toshihiro designed the resistance to lateral wind disturbance stability controller using sliding mode control method, and carried on simulation researches on the vehicle steering stability under different pavement [9].…”

Section: Introductionmentioning

confidence: 99%