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Aligning Torque

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Zhihong Man – One of the best experts on this subject based on the ideXlab platform.

  • Adaptive fuzzy sliding mode control design for vehicle steer-by-wire systems
    Journal of Intelligent & Fuzzy Systems, 2019
    Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai Wang, Ke Shao

    Abstract:

    This paper presents a novel adaptive fuzzy sliding mode (AFSM) control scheme for a vehicle steer-by-wire (SbW) system. Initially, the dynamics of the SbW system are described by a second-order differential equation where the Coulomb friction and the self-Aligning Torque are treated as external disturbances. Furthermore, an AFSM controller is designed for the SbW system, which utilizes an adaptive law to estimate both the Coulomb friction and the self-Aligning Torque, a sliding mode control component to deal with the parametric uncertainties and unmodeled dynamics, and a fuzzy strategy to strike a good balance between the chattering-alleviation and the tracking precision. The stability of the control system is verified in the sense of Lyapunov, and the selection of control parameters is provided in detail. Lastly, experiments are carried out under various road conditions. The experimental results demonstrate that the developed AFSM controller possesses superiority in terms of higher tracking accuracy, stronger robustness and a better balance between the control precision and smoothness in comparison with a conventional sliding mode (CSM) controller and a boundary layer-based adaptive sliding mode (BLASM) controller.

  • Sliding mode-based active disturbance rejection control for vehicle steer-by-wire systems
    IET Cyber-Physical Systems: Theory & Applications, 2017
    Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai Wang

    Abstract:

    This study presents a sliding mode-based active disturbance rejection control (SMADRC) scheme for a steer-by-wire (SbW) system in road vehicles. First, a plant model that describes the mechanical dynamics of the SbW system is elaborated, where the viscous friction and the self-Aligning Torque are regarded as external disturbances. Second, the design of SMADRC is exposited, in which a non-linear extended state observer is utilised to estimate the non-linearities existing in the plant model, and a sliding mode control component is used to cope with the effect of the non-linearities and guarantee the control robustness against system uncertainties and varying road conditions. Finally, experimental results are shown to demonstrate the superiority of the designed SMADRC in comparison with a conventional sliding mode controller and a PD-based active disturbance rejection controller (PDADRC).

  • Adaptive fast non-singular terminal sliding mode control for a vehicle steer-by-wire system
    IET Control Theory & Applications, 2017
    Co-Authors: Zhe Sun, Jinchuan Zheng, Hai Wang, Zhihong Man

    Abstract:

    Steer-by-wire (SbW) systems in road vehicles require an effective controller to provide accurate and robust steering performance. For this purpose, this study proposes an adaptive fast non-singular terminal sliding mode (AFNTSM) controller for an SbW system by combining an adaptive estimation law with a fast non-singular terminal sliding mode (FNTSM) control scheme. First, the authors present a model to identify the dynamics of the SbW system, in which the self-Aligning Torque and friction-related forces are treated as external disturbances. Second, the AFNTSM control design is elaborated, which is proved to be able to guarantee high tracking accuracy via effectively estimating the self-Aligning Torque, fast convergence rate owing to its exponential stability, strong robustness against system and road surface uncertainties, and inherently smooth control inputs. Subsequently, the selection criteria of the control parameters are given in details. Finally, experimental results are shown to demonstrate that the designed AFNTSM controller has great superiority in comparison with an FNTSM controller without adaptation and an adaptive sliding mode controller based on conventional sliding mode.

Hai Wang – One of the best experts on this subject based on the ideXlab platform.

  • Adaptive fuzzy sliding mode control design for vehicle steer-by-wire systems
    Journal of Intelligent & Fuzzy Systems, 2019
    Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai Wang, Ke Shao

    Abstract:

    This paper presents a novel adaptive fuzzy sliding mode (AFSM) control scheme for a vehicle steer-by-wire (SbW) system. Initially, the dynamics of the SbW system are described by a second-order differential equation where the Coulomb friction and the self-Aligning Torque are treated as external disturbances. Furthermore, an AFSM controller is designed for the SbW system, which utilizes an adaptive law to estimate both the Coulomb friction and the self-Aligning Torque, a sliding mode control component to deal with the parametric uncertainties and unmodeled dynamics, and a fuzzy strategy to strike a good balance between the chattering-alleviation and the tracking precision. The stability of the control system is verified in the sense of Lyapunov, and the selection of control parameters is provided in detail. Lastly, experiments are carried out under various road conditions. The experimental results demonstrate that the developed AFSM controller possesses superiority in terms of higher tracking accuracy, stronger robustness and a better balance between the control precision and smoothness in comparison with a conventional sliding mode (CSM) controller and a boundary layer-based adaptive sliding mode (BLASM) controller.

  • Sliding mode-based active disturbance rejection control for vehicle steer-by-wire systems
    IET Cyber-Physical Systems: Theory & Applications, 2017
    Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai Wang

    Abstract:

    This study presents a sliding mode-based active disturbance rejection control (SMADRC) scheme for a steer-by-wire (SbW) system in road vehicles. First, a plant model that describes the mechanical dynamics of the SbW system is elaborated, where the viscous friction and the self-Aligning Torque are regarded as external disturbances. Second, the design of SMADRC is exposited, in which a non-linear extended state observer is utilised to estimate the non-linearities existing in the plant model, and a sliding mode control component is used to cope with the effect of the non-linearities and guarantee the control robustness against system uncertainties and varying road conditions. Finally, experimental results are shown to demonstrate the superiority of the designed SMADRC in comparison with a conventional sliding mode controller and a PD-based active disturbance rejection controller (PDADRC).

  • Adaptive fast non-singular terminal sliding mode control for a vehicle steer-by-wire system
    IET Control Theory & Applications, 2017
    Co-Authors: Zhe Sun, Jinchuan Zheng, Hai Wang, Zhihong Man

    Abstract:

    Steer-by-wire (SbW) systems in road vehicles require an effective controller to provide accurate and robust steering performance. For this purpose, this study proposes an adaptive fast non-singular terminal sliding mode (AFNTSM) controller for an SbW system by combining an adaptive estimation law with a fast non-singular terminal sliding mode (FNTSM) control scheme. First, the authors present a model to identify the dynamics of the SbW system, in which the self-Aligning Torque and friction-related forces are treated as external disturbances. Second, the AFNTSM control design is elaborated, which is proved to be able to guarantee high tracking accuracy via effectively estimating the self-Aligning Torque, fast convergence rate owing to its exponential stability, strong robustness against system and road surface uncertainties, and inherently smooth control inputs. Subsequently, the selection criteria of the control parameters are given in details. Finally, experimental results are shown to demonstrate that the designed AFNTSM controller has great superiority in comparison with an FNTSM controller without adaptation and an adaptive sliding mode controller based on conventional sliding mode.

Zhe Sun – One of the best experts on this subject based on the ideXlab platform.

  • Adaptive fuzzy sliding mode control design for vehicle steer-by-wire systems
    Journal of Intelligent & Fuzzy Systems, 2019
    Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai Wang, Ke Shao

    Abstract:

    This paper presents a novel adaptive fuzzy sliding mode (AFSM) control scheme for a vehicle steer-by-wire (SbW) system. Initially, the dynamics of the SbW system are described by a second-order differential equation where the Coulomb friction and the self-Aligning Torque are treated as external disturbances. Furthermore, an AFSM controller is designed for the SbW system, which utilizes an adaptive law to estimate both the Coulomb friction and the self-Aligning Torque, a sliding mode control component to deal with the parametric uncertainties and unmodeled dynamics, and a fuzzy strategy to strike a good balance between the chattering-alleviation and the tracking precision. The stability of the control system is verified in the sense of Lyapunov, and the selection of control parameters is provided in detail. Lastly, experiments are carried out under various road conditions. The experimental results demonstrate that the developed AFSM controller possesses superiority in terms of higher tracking accuracy, stronger robustness and a better balance between the control precision and smoothness in comparison with a conventional sliding mode (CSM) controller and a boundary layer-based adaptive sliding mode (BLASM) controller.

  • Sliding mode-based active disturbance rejection control for vehicle steer-by-wire systems
    IET Cyber-Physical Systems: Theory & Applications, 2017
    Co-Authors: Zhe Sun, Zhihong Man, Jinchuan Zheng, Hai Wang

    Abstract:

    This study presents a sliding mode-based active disturbance rejection control (SMADRC) scheme for a steer-by-wire (SbW) system in road vehicles. First, a plant model that describes the mechanical dynamics of the SbW system is elaborated, where the viscous friction and the self-Aligning Torque are regarded as external disturbances. Second, the design of SMADRC is exposited, in which a non-linear extended state observer is utilised to estimate the non-linearities existing in the plant model, and a sliding mode control component is used to cope with the effect of the non-linearities and guarantee the control robustness against system uncertainties and varying road conditions. Finally, experimental results are shown to demonstrate the superiority of the designed SMADRC in comparison with a conventional sliding mode controller and a PD-based active disturbance rejection controller (PDADRC).

  • Adaptive fast non-singular terminal sliding mode control for a vehicle steer-by-wire system
    IET Control Theory & Applications, 2017
    Co-Authors: Zhe Sun, Jinchuan Zheng, Hai Wang, Zhihong Man

    Abstract:

    Steer-by-wire (SbW) systems in road vehicles require an effective controller to provide accurate and robust steering performance. For this purpose, this study proposes an adaptive fast non-singular terminal sliding mode (AFNTSM) controller for an SbW system by combining an adaptive estimation law with a fast non-singular terminal sliding mode (FNTSM) control scheme. First, the authors present a model to identify the dynamics of the SbW system, in which the self-Aligning Torque and friction-related forces are treated as external disturbances. Second, the AFNTSM control design is elaborated, which is proved to be able to guarantee high tracking accuracy via effectively estimating the self-Aligning Torque, fast convergence rate owing to its exponential stability, strong robustness against system and road surface uncertainties, and inherently smooth control inputs. Subsequently, the selection criteria of the control parameters are given in details. Finally, experimental results are shown to demonstrate that the designed AFNTSM controller has great superiority in comparison with an FNTSM controller without adaptation and an adaptive sliding mode controller based on conventional sliding mode.