Sliding Mode and Inertial Delay Based Direct Yaw Moment Control for AGVs

Patil, S. H.; Wanaskar, Vijayraj; Shendge, P. D.; Phadke, S. B.

doi:10.1109/i2ct51068.2021.9418161

Cited by 4 publications

(1 citation statement)

References 24 publications

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“…For example, a fuzzy PI control strategy is used with continuous optimization of the PI parameters (Cai et al , 2022). A direct yaw moment control algorithm based on sliding mode control is developed, incorporating inertial delay control (Gang and Lin-Yan, 2022; Patil et al , 2021). To achieve directional stability for heavy commercial road vehicles, a robust reaching law-based sliding mode controller is proposed, considering the combined effects of cornering and emergency braking (Patil et al , 2022).…”

Section: Introductionmentioning

confidence: 99%

Coordinated torque control for enhanced steering and stability of independently driven mobile robots

Wang,

Wang

2024

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Purpose Mobile robots with independent wheel control face challenges in steering precision, motion stability and robustness across various wheel and steering system types. This paper aims to propose a coordinated torque distribution control approach that compensates for tracking deviations using the longitudinal moment generated by active steering. Design/methodology/approach Building upon a two-degree-of-freedom robot model, an adaptive robust controller is used to compute the total longitudinal moment, while the robot actuator is regulated based on the difference between autonomous steering and the longitudinal moment. An adaptive robust control scheme is developed to achieve accurate and stable generation of the desired total moment value. Furthermore, quadratic programming is used for torque allocation, optimizing maneuverability and tracking precision by considering the robot’s dynamic model, tire load rate and maximum motor torque output. Findings Comparative evaluations with autonomous steering Ackermann speed control and the average torque method validate the superior performance of the proposed control strategy, demonstrating improved tracking accuracy and robot stability under diverse driving conditions. Research limitations/implications When designing adaptive algorithms, using models with higher degrees of freedom can enhance accuracy. Furthermore, incorporating additional objective functions in moment distribution can be explored to enhance adaptability, particularly in extreme environments. Originality/value By combining this method with the path-tracking algorithm, the robot’s structural path-tracking capabilities and ability to navigate a variety of difficult terrains can be optimized and improved.

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Section: Introductionmentioning

confidence: 99%

Coordinated torque control for enhanced steering and stability of independently driven mobile robots

Wang,

Wang

2024

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Search-Algorithm-Based Offline Inductance Identification Using Sliding Mode Flux Observation Data for IPMSMS

Han,

Chen,

et al. 2024

IEEE/ASME Trans. Mechatron.

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This paper proposes a sliding mode observer (SMO)-based technique to detect the d, q-axis inductances of interior permanent magnet synchronous machines (IPMSM) offline by using a novel search algorithm. The rationale behind the proposed method is that the chattering effects of the SMO are minimal when the parameters used to construct the observer comply with the real ones. First, a sliding mode flux observer (SMFO) is constructed to observe the rotor flux that has strong links with the inductances. Second, the relationship between the inductances and the observed flux, which is relevant to the chattering effects of the SMFO, is illustrated in theory. Then, a quick search algorithm that can be easily executed on the digital processors is designed to detect the d, q-axis inductances. Finally, comparative experiment is conducted on an IPMSM to validate the proposed techniques.

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Optimized sensorless control systems for cargo movement mechanisms

Sinyukova

Gracheva

Kolcun

et al. 2022

«Izvestiya vysshikh uchebnykh zavedenii. PROBLEMY ENERGETIKI»

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THE PURPOSE. Investigation of the control system of the cargo movement mechanism when using different variants of sensorless control. The search for the optimal option, in which the formation of the speed is identical to the data obtained from the speed sensor. Analysis of the results obtained during the study, including the results obtained taking into account the heating of the motor windings.METHODS. The tasks set during the research are implemented by simulation modeling using the Matlab Simulink computer simulation environment.RESULTS. The article considers systems with different types of velocity observers. A system is implemented that takes into account the heating of the stator and rotor windings of an asynchronous motor, in which a non-adaptive observer and different types of neural network controller were introduced. A combined method of using neural network regulators is proposed.CONCLUSION. Sensorless control systems are relevant for use in industries with the presence, according to the conditions of the technological process, of high temperatures. The conducted research has shown that the use of neural network technologies allows you to work with settings of different levels and types. The proposed method, implying the use of joint work of neural network observers with various neurostructures, allows for speed testing in the entire range. The connection with cloud storage present in the proposed structure leads to the unloading of the management system, allowing to increase the process of analyzing data coming from the object.

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Sliding Mode and Inertial Delay Based Direct Yaw Moment Control for AGVs

Cited by 4 publications

References 24 publications

Coordinated torque control for enhanced steering and stability of independently driven mobile robots

Coordinated torque control for enhanced steering and stability of independently driven mobile robots

Search-Algorithm-Based Offline Inductance Identification Using Sliding Mode Flux Observation Data for IPMSMS

Optimized sensorless control systems for cargo movement mechanisms

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