Robust Backstepping Sliding Mode Control with L2-Gain Performance for Reference Input Wheel Slip Tracking of Vehicle

Aiming at the requirement of the intelligent vehicle for the fast and stable tracking control of the wheel slip, a novel robust adaptive anti-windup wheel slip tracking control method with fast terminal sliding mode observer is proposed. First, a fast terminal sliding mode observer based on equivalent control on the sliding surface is proposed to estimate the states of the wheel slip dynamic system to lay the foundation for the full state feedback control law design. Second, a robust adaptive anti-windup wheel slip tracking control law with lumped uncertainty observer and additional anti-windup dynamics is derived based on Lyapunov-based method. The lumped uncertainty observer utilizes the nonlinear mapping ability of the radius basis function neural network to estimate and compensate the lumped uncertainty of the system, and the unknown optimal weight vector of the radius basis function neural network is updated by adaptive law. The additional anti-windup dynamics is used to suppress the effect of the input saturation on the stability of the system. Finally, the performance of the proposed method is verified through simulations of various maneuvers on vehicle dynamics simulation software.

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Robust adaptive anti-windup wheel slip tracking control for intelligent vehicle with fast terminal sliding mode observer

Zhang

Zhou

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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Nonlinear robust wheel slip rate tracking control for autonomous vehicle with actuator dynamics

Zhang

Zhou

Zhao

2014

Advances in Mechanical Engineering

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This article presents a novel nonlinear robust wheel slip rate tracking control strategy for autonomous vehicle with actuator dynamics. First, a simple yet effective wheel slip rate dynamic model with the lumped uncertainty is established as the basis of the nonlinear robust wheel slip rate tracking control strategy design. Second, a nonlinear robust wheel slip rate tracking control law with lumped uncertainty observer is derived via the Lyapunov-based method. The lumped uncertainty observer is used to estimate and compensate the lumped uncertainty of the system by combining the radial basis function neural network with the adaptive laws for the unknown optimal weight vector of the radial basis function neural network. Then, a novel tracking differentiator is designed to calculate the derivative of the desired wheel slip rate, which is an essential aspect of the proposed nonlinear robust wheel slip rate tracking control law. Finally, the performance of the proposed control strategy is verified based on straight line braking maneuvers with three typical signals.

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Robust Backstepping Sliding Mode Control with L2-Gain Performance for Reference Input Wheel Slip Tracking of Vehicle

Cited by 2 publications

References 31 publications

Robust adaptive anti-windup wheel slip tracking control for intelligent vehicle with fast terminal sliding mode observer

Robust adaptive anti-windup wheel slip tracking control for intelligent vehicle with fast terminal sliding mode observer

Nonlinear robust wheel slip rate tracking control for autonomous vehicle with actuator dynamics

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