Sliding Mode Control Based on Dynamic Model for Transport Vehicle

Xiu, Chunbo; Wang, Ruosi

doi:10.1109/access.2018.2841994

Cited by 6 publications

(6 citation statements)

References 28 publications

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“…Control of our powertrain is therefore of paramount importance in analyzing the operation of our machine in the automotive field, and it also enables us to detect the advantages of using DSIMs in electric vehicles. In our study, we have chosen sliding mode control for the traction system of an electric vehicle due to its numerous advantages [27][28][29].…”

Section: Control Of the Electric Vehiclementioning

confidence: 99%

Sliding Mode Control of an Electric Vehicle Driven by a New Powertrain Technology Based on a Dual-Star Induction Machine

Benbouya,

Cheghib,

Chrenko

et al. 2024

WEVJ

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This article examines a new powertrain system for electric vehicles based on the dual-star induction machine, presented as a promising option due to its significant advantages in terms of performance, energy efficiency, and reliability. This system could play a key role in the evolution of electro-mobility technology. The dual-star induction machine reduces electromagnetic torque fluctuations, limits current harmonics, improves power factor, and enables half-speed operation. Our study focuses on the control strategy and operation of the traction chain for electric vehicles propelled by the dual-star induction machine (DSIM) using Matlab software with version 2017. We integrate the battery as the main energy source, along with three-level static converters for energy conversion in the vehicle’s four operating quadrants. We have opted for sliding mode control, which has proven to be feasible and robust against external disturbances. Although we have modeled driver behavior, we consider it as an aspect of control, to which we add the driving profile to guide our evaluation of the control to be used for vehicle operation. The results of our study demonstrate the reliability and robustness of DSIM for electric vehicle motorization and speed control. Promoting this technology is essential to improve the overall performance and efficiency of electric vehicles, especially in traction and braking modes for energy recovery. This underscores the importance of DSIM in the sustainable development of the electric transportation system.

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Section: Control Of the Electric Vehiclementioning

confidence: 99%

Sliding Mode Control of an Electric Vehicle Driven by a New Powertrain Technology Based on a Dual-Star Induction Machine

Benbouya,

Cheghib,

Chrenko

et al. 2024

WEVJ

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“…and the adaptive law for the STW switching gains is designed as equations (13) to (16). Figure 1 is the block diagram of the proposed global robust STW with adaptive switching gains (GNASTW) for the hybrid robot, where q d is the expected pose of the end effector;…”

Section: Design Of the Global Robust Stw Algorithm With Adaptive Switmentioning

confidence: 99%

“…Theorem 2. For the hybrid robot system with uncertainties, if the global robust STW law is designed as equation (17) and the adaptive law for the switching gains is designed as equations (13) to (16), the system will converge in a finite time.…”

Section: Stability Analysismentioning

confidence: 99%

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Global robust super-twisting algorithm with adaptive switching gains for a hybrid robot

Gao

Zhang

2020

International Journal of Advanced Robotic Systems

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To improve the robustness performance of dynamic sliding mode control to the time-varying uncertainties without the upper bound information in a hybrid robot system, a global robust super-twisting algorithm with adaptive switching gains is proposed. The main contributions are as follows: (1) for the problem that the robustness of the sliding mode control system is not guaranteed in the reaching phase, a global robust sliding surface is designed to eliminate the reaching phase of the sliding mode control; (2) for the chattering problem existing in the sliding phase of the sliding mode control system due to the conservative selection of switching gains, based on a reconstructive super-twisting sliding mode control and the equivalent principle, a fast-adaptive law is designed to effectively reduce the chattering while the global robustness is ensured. The stability of the proposed algorithm is proved by Lyapunov stability theorem. The simulation and experiment on the hybrid robot prototype system are implemented to verify the effectiveness of the proposed control method.

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“…The sliding mode control (SMC) [4], belonging to robust control scheme, possesses several advantages, such as insensitivity to uncertainties, fast dynamic response, and simplicity in implementation [5]- [7]. Whereas, in the case of large uncertainties such as unmodeled dynamics and external disturbance in the system, a switching gain which is larger than the upper bound of the uncertainties should be selected to ensure the system robustness.…”

Section: Introductionmentioning

confidence: 99%

Synchronous Robust Sliding Mode Control of a Parallel Robot for Automobile Electro-Coating Conveying

Gao

Zhang

2019

IEEE Access

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This paper is devoted to improving the synchronization and robustness performance of a parallel robot used for automobile electro-coating conveying via a novel synchronous robust sliding mode control (SMC). A sliding surface is designed based on a composite error, which is composed of the tracking error of each joint and the synchronization errors among the joints. By incorporating a nonlinear disturbance observer into the finite-time SMC based on the composite error, the synchronous robust SMC of the parallel robot is realized. The finite-time Lyapunov stability of the sliding variable and the asymptotic convergence of the tracking error and synchronization error have been proved theoretically. The lumped disturbance in the system is estimated by the proposed scheme, and restriction on the change rate of the lumped disturbance has been relaxed. Due to the feedforward compensation with the disturbance estimation value, the switching gain of SMC required is merely larger than the upper bound of the disturbance estimation error, rather than the upper bound of the disturbance, resulting in chattering attenuation. Finally, the numerical simulation and experiment on the prototype system of the parallel robot are implemented to validate the effectiveness of the synchronous robust SMC.

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Sliding Mode Control Based on Dynamic Model for Transport Vehicle

Cited by 6 publications

References 28 publications

Sliding Mode Control of an Electric Vehicle Driven by a New Powertrain Technology Based on a Dual-Star Induction Machine

Sliding Mode Control of an Electric Vehicle Driven by a New Powertrain Technology Based on a Dual-Star Induction Machine

Global robust super-twisting algorithm with adaptive switching gains for a hybrid robot

Synchronous Robust Sliding Mode Control of a Parallel Robot for Automobile Electro-Coating Conveying

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