Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion

Kruse, Oliver; Mukhamejanova, Aidana; Mercorelli, Paolo

doi:10.3390/electronics11091330

Cited by 22 publications

(16 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Although the sliding mode [9] regulator can dispose of the relatively sophisticated control system to ensure its good robustness and speed of response, the system will buffet during the process. This thesis proposes an integral sliding mode control manner to ameliorate the approach law to solve this problem.…”

Section: Improve the Integral Sliding Mode Controllermentioning

confidence: 99%

Research on Electronic Differential Steering Control Strategy for Aircraft Electric Tractors

Gao,

Jing

2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

Compared with the traditional fuel aircraft tractor, the electric tractor using the four-wheel hub motor independent drive mode has the advantages of environmental protection, low costs, flexibility, high controllability, and convenience for later maintenance. The paper uses a four-wheel hub motor tractor and a linear vehicle model to propose a hierarchical steering control strategy. The upper layer control adopts the improved integrated sliding mode control algorithm with the yaw angular speed as the control goal to obtain the additional yaw torque. The additional yaw torque obtained is reasonably distributed to each wheel by the use of the rule distribution algorithm of the lower layer control, to obtain the optimal driving torque of each wheel. Finally, the steering stability of the electric aircraft tractor at different speeds is verified based on Simulink. The results show that the control strategy can better control the speed and stability of steering control of electric vehicles.

show abstract

Section: Improve the Integral Sliding Mode Controllermentioning

confidence: 99%

Research on Electronic Differential Steering Control Strategy for Aircraft Electric Tractors

Gao,

Jing

2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

show abstract

“…From Figure 5, it can be observed that R À W 2 represents the radius of curvature of the trajectory describing the left wheel, while R + W 2 represents the radius of curvature of the trajectory describing the right wheel. In this case, the rotation angle of the vehicle when turning left and right is expressed by equations ( 28)- (29).…”

Section: Computational Model For Wall Climbing Robot Carmentioning

confidence: 99%

“…[25][26][27] This technology is highly beneficial in solving manufacturing issues by utilizing lightweight materials while ensuring durability. 28,29 The principle of 3D printing involves creating the object by layering materials on top of each other, with each layer being fused together through additives, heat, or light. [30][31][32][33] The printing material is responsible for constructing the product, and as the components are fabricated using 3D printing, the mechanical properties of the material are closely monitored and appropriately calculated.…”

Section: Introductionmentioning

confidence: 99%

Design and simulation of a 3D-printed wall-climbing robot for high-risk construction tasks

Huynh,

Vo,

Nguyen

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

This study aims to design and calculate a model for a wall-climbing robot to replace humans in performing dangerous tasks at great heights in construction sites. The research simultaneously addresses three main issues in the process of calculation, design, and simulation of the vertically climbing robot model. Firstly, the study conducts calculations and analyzes the dynamics of the model in various working states. Specifically, it calculates the suction force of the fan in non-contact conditions to ensure the suction capability of the model during practical operations. Secondly, the core content of this method involves utilizing the airflow generated by the engine through a specially designed suction mechanism to increase the airflow velocity significantly, thus creating a low-pressure area capable of adhering to the wall. This suction force calculation method and other forces acting on the robot model are based on numerical simulation software. The boundary conditions in the calculation process for the wall-climbing robot model are derived from the tasks that the robot performs during real operations, replacing humans. Thirdly, the study designs the wall-climbing robot using the non-contact suction force method through a 3D-printed fan model to enhance the model’s durability and optimize the airflow under various conditions. In summary, through this research, the paper aims to construct a robot model using non-contact suction and complete it entirely with 3D printing technology. This model will generate cost-effective and highly efficient robot vehicles that can be widely applied in modern industrial environments.

show abstract

“…At present, most of the optimization schemes of active and semi-active suspension control strategies are weight coefficient optimization for a single working condition. In the actual driving process of vehicles, road conditions are complex and changeable, and the change in vehicle conditions will affect the actual control effect [ 30 , 31 ]. Road working condition parameters can be obtained to optimize active suspension control and obtain better control effects under different road conditions and speeds, which can better improve vehicle comfort and ride comfort [ 5 , 32 ].…”

Section: Introductionmentioning

confidence: 99%

Study on Multi-Mode Switching Control Strategy of Active Suspension Based on Road Estimation

Liu

et al. 2023

Sensors

View full text Add to dashboard Cite

In this paper, the least squares method is used to determine the vertical height of the road space domain. Based on the road estimation method, the active suspension control mode switching model is constructed, and the dynamic characteristics of the vehicle in comfort, safety, and integrated modes are analyzed. The vibration signal is collected by the sensor, and the parameters such as vehicle driving conditions are solved for in reverse. A control strategy for multiple mode switching under different road surfaces and speeds is constructed. At the same time, the particle swarm optimization algorithm (PSO) is used to optimize the weight coefficients of LQR control under different modes, and the dynamic performance of vehicle driving is comprehensively analyzed. The test and simulation results show that the road estimation results under different speeds in the same road section are very close to the results obtained by the detection ruler method, and the overall error is less than 2%. Compared with the active suspension controlled by passive and traditional LQR, the multi-mode switching strategy can achieve a better balance between driving comfort and handling safety and stability, and also improve the driving experience more intelligently and comprehensively.

show abstract

Super-Twisting Sliding Mode Control for Differential Steering Systems in Vehicular Yaw Tracking Motion

Cited by 22 publications

References 21 publications

Research on Electronic Differential Steering Control Strategy for Aircraft Electric Tractors

Research on Electronic Differential Steering Control Strategy for Aircraft Electric Tractors

Design and simulation of a 3D-printed wall-climbing robot for high-risk construction tasks

Study on Multi-Mode Switching Control Strategy of Active Suspension Based on Road Estimation

Contact Info

Product

Resources

About