The Experts below are selected from a list of 21936 Experts worldwide ranked by ideXlab platform
Junmin Wang - One of the best experts on this subject based on the ideXlab platform.
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improving Vehicle handling stability based on combined afs and dyc system via robust takagi sugeno fuzzy control
IEEE Transactions on Intelligent Transportation Systems, 2018Co-Authors: Xianjian Jin, Guodong Yin, Junmin WangAbstract:This paper presents a robust fuzzy $H_{\infty }$ control strategy for improving Vehicle lateral stability and handling performance through integration of direct yaw moment control system (DYC) and active front steering. Since Vehicle lateral dynamics possesses inherent nonlinearities, the main objective is dedicated to deal with the nonlinear challenge in Vehicle lateral dynamics by applying Takagi-Sugeno (T-S) fuzzy Modeling approach. First, the nonlinear Brush tire dynamics and the nonlinear functions of longitudinal velocity are represented via a T-S fuzzy Modeling technique, and Vehicle parametric uncertainties are handled by the norm-bounded uncertainties. An uncertain nonlinear Vehicle lateral dynamic T-S fuzzy Model is then obtained with multi-fuzzy-rules. The resulting robust fuzzy $H_{\infty }$ state-feedback controller is designed with the parallel-distributed compensation strategy and premise variables, and solved via a set of linear matrix inequalities derived from Lyapunov asymptotic stability and quadratic $H_{\infty }$ performance. Simulations for two different maneuvers are implemented with a high-fidelity, CarSimⓇ, Full-Vehicle Model to verify the effectiveness of the developed approach. It is confirmed from the results that the proposed controller can effectively preserve Vehicle lateral stability and enhance yaw handling performance.
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robust control for four wheel independently actuated electric ground Vehicles by external yaw moment generation
International Journal of Automotive Technology, 2015Co-Authors: Rongben Wang, Guodong Yin, Junmin WangAbstract:This paper presents a robust controller for four wheel independently-actuated (FWIA) electric ground Vehicles to preserve Vehicle stability and improve Vehicle handling performance. Thanks to the actuation flexibility of FWIA electric ground Vehicles, an external yaw moment, which is usually employed to regulate the Vehicle yaw and lateral motions, can be easily generated with the torque differences between the left and right side motors. A μ-synthesis control method which can deal with unModeled dynamics and parametric uncertainties is proposed by taking the external yaw moment as the control input. Simulations with a high-fidelity, CarSim®, Full-Vehicle Model are carried out to demonstrate the effectiveness of the proposed control system. Simulation results in various driving scenarios with Vehicle payload variations show the robustness of the proposed controller.w
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linear parameter varying controller design for four wheel independently actuated electric ground Vehicles with active steering systems
IEEE Transactions on Control Systems and Technology, 2014Co-Authors: Rongrong Wang, Hui Zhang, Junmin WangAbstract:This paper presents a linear parameter-varying (LPV) control strategy to preserve stability and improve handling of a four-wheel independently actuated electric ground Vehicle in spite of in-wheel motors and/or steering system faults. Different types of actuator faults including loss-of-effectiveness fault, additive fault, and the fault makes an actuator's control effect stuck-at-fixed-level, are considered simultaneously. To attenuate the effects of disturbance and address the challenging problem, a novel fault-tolerant (FT) robust linear quadratic regulator (LQR)-based $H_{\infty}$ controller using the LPV method is proposed. With the LQR-based $H_{\infty}$ control, the tradeoff between the tracking performance and the control input energy is achieved, and the effect from the external disturbance to the controlled outputs is minimized. The eigenvalue positions of the system matrix of the closed-loop system are also incorporated to tradeoff between the control inputs and the transient responses. The Vehicle states, including Vehicle yaw rate, lateral and longitudinal velocities, are simultaneously controlled to track their respective references. Simulations for different fault types and various driving scenarios are carried out with a high-fidelity, CarSim®, Full-Vehicle Model. Simulation results show the effectiveness of the proposed FT control approach.
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fault tolerant control with active fault diagnosis for four wheel independently driven electric ground Vehicles
American Control Conference, 2011Co-Authors: Rongrong Wang, Junmin WangAbstract:A fault-tolerant (FT) control approach for four-wheel independently-driven (4WID) electric Vehicles is presented. An adaptive control based passive fault-tolerant controller is designed to ensure the system stability when an in-wheel motor/motor driver fault happens. As an over-actuated system, it is challenging to isolate the faulty wheel and accurately estimate the control gain of the faulty in-wheel motor for 4WID electric Vehicles. An active fault diagnosis approach is thus proposed to isolate and evaluate the fault. Based on the estimated control gain of the faulty in-wheel motor, the control efforts of all the four wheels are redistributed to relieve the torque demand on the faulty wheel. Simulations using a high-fidelity, CarSim, Full-Vehicle Model show the effectiveness of the proposed in-wheel motor/motor driver fault diagnosis and fault-tolerant control approach.
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adaptive Vehicle speed control with input injections for longitudinal motion independent road frictional condition estimation
IEEE Transactions on Vehicular Technology, 2011Co-Authors: Yan Chen, Junmin WangAbstract:This paper presents a novel real-time tire-road friction coefficient estimation method that is independent of Vehicle longitudinal motion for ground Vehicles with separable control of the front and rear wheels. The tire-road friction coefficient information is of critical importance for Vehicle dynamic control systems and intelligent autonomous Vehicle applications. In this paper, the Vehicle longitudinal-motion-independent tire-road friction coefficient estimation method consists of three main components: 1) an observer to estimate the internal state of a dynamic LuGre tire Model; 2) an adaptive control law with a parameter projection mechanism to track the desired Vehicle longitudinal motion in the presence of tire-road friction coefficient uncertainties and actively injected braking excitation signals; and 3) a recursive least square estimator that is independent of the control law, to estimate the tire-road friction coefficient in real time. Simulation results based on a high-fidelity CarSim Full-Vehicle Model show that the system can reliably estimate the tire-road friction coefficient independent of Vehicle longitudinal motion.
Rahmi Guclu - One of the best experts on this subject based on the ideXlab platform.
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Neural Network Control of Non-Linear Full Vehicle Model Vibrations
'IntechOpen', 2021Co-Authors: Rahmi Guclu, Kayhan GulezAbstract:The aim of this study was the development of a Neural Network (NN) based controller for vibrations of a non-linear eight-degree-of-freedom Vehicle Model with active suspensions. This controller, which had a very good performance for the results both in time and frequency responses, has been applied to the Vehicle. Only having controllers under the Vehicle body without u5 does not provide a good control over passenger comfort. The simulation results prove that, using controllers under the Vehicle body and passenger seat provided excellent ride comfort. Therefore, this strategy should be taken into account by considering the control of the Vehicle body and passenger seat together. Using this strategy, the bounce motion of the passenger reduces with an extra controller that applies very small force input, since the other controllers are active. If the passenger seat controller is eliminated and only other controllers are kept, the vibrations increase. A successful improvement has also been obtained in the isolation of the vertical acceleration of passengers. Frequency response plots of a passenger for this strategy support the results obtained. In conclusion, adding a controller under the passenger seat in addition to the other controllers improves ride comfort considerably. The decrease in vibration amplitudes and the excellent improvement in resonance values support this result
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semiactive self tuning fuzzy logic control of Full Vehicle Model with mr damper
Advances in Mechanical Engineering, 2014Co-Authors: Mahmut Paksoy, Rahmi Guclu, Saban CetinAbstract:Intelligent controllers are studied for vibration reduction of a Vehicle consisting in a semiactive suspension system with a magnetorheological(MR) damper. The Vehicle is Modeled with seven degrees...
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cba neural network control of a non linear Full Vehicle Model
Simulation Modelling Practice and Theory, 2008Co-Authors: Kayhan Gulez, Rahmi GucluAbstract:Abstract In this paper, the dynamic behavior of a non-linear eight degrees of freedom Vehicle Model having active suspensions and passenger seat controlled by a neural network (NN) controller is examined. A robust NN structure is established by using principle design data from the Matlab diagrams of system functions. In the NN structure, Classic Back-Propagation Algorithm (CBA) is employed. The user inputs a set of x 1 − x 16 while the output from the NN consists of f 1 − f 16 non-linear functions. Further, the Permanent Magnet Synchronous Motor (PMSM) controller is also determined using the same NN structure. According to various tests of the NN structure it is demonstrated that the Model is able to give highly sensitive outputs for vibration condition, even using a more restricted input data set. The non-linearity occurs due to dry friction on the dampers. The Vehicle body and the passenger seat using PMSM are Fully controlled at the same time. The time responses of the non-linear Vehicle Model due to road disturbance and the frequency responses are obtained. Finally, uncontrolled and controlled cases are compared. It is seen that seat vibrations of a non-linear Full Vehicle Model are controlled by NN based system exactly.
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neural network control of seat vibrations of a non linear Full Vehicle Model using pmsm
Mathematical and Computer Modelling, 2008Co-Authors: Rahmi Guclu, Kayhan GulezAbstract:In this paper, the dynamic behaviour of a non-linear eight degrees of freedom Vehicle Model having active suspensions and passenger seat using Permanent Magnet Synchronous Motor (PMSM) controlled by a Neural Network (NN) controller is examined. A robust NN structure is established by using principle design data from the Matlab diagrams of system functions. In the NN structure, Fast Back-Propagation Algorithm (FBA) is employed. The user inputs a set of 16 variables while the output from the NN consists of f"1-f"1"6 non-linear functions. Further, the PMSM controller is also determined using the same NN structure. Various tests of the NN structure demonstrated that the Model is able to give highly sensitive outputs for vibration condition, even using a more restricted input data set. The non-linearity occurs due to dry friction on the dampers. The Vehicle body and the passenger seat using PMSM are Fully controlled at the same time. The time responses of the non-linear Vehicle Model due to road disturbance and the frequency responses are obtained. Finally, uncontrolled and controlled cases are compared. It is seen that seat vibrations of a non-linear Full Vehicle Model are controlled by a NN-based system with almost zero error between desired and achieved outputs.
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Fuzzy Logic Control of Seat Vibrations of a Non-Linear Full Vehicle Model
Nonlinear Dynamics, 2005Co-Authors: Rahmi GucluAbstract:In this paper, the dynamic behavior of a non-linear eight degrees of freedom Vehicle Model having active suspensions and a fuzzy logic (FL) controlled passenger seat is examined. The non-linearity occurs due to dry friction on the dampers. Three cases of control strategies are taken into account. In the first case, only the passenger seat is controlled. In the second case, only the Vehicle body is controlled. In the third case, both the Vehicle body and the passenger seat are Fully controlled at the same time. The time responses of the non-linear Vehicle Model due to road disturbance and the frequency responses are obtained for each control strategy. At the end, the performances of these strategies are compared.
Nurkan Yagiz - One of the best experts on this subject based on the ideXlab platform.
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backstepping control of a Vehicle with active suspensions
Control Engineering Practice, 2008Co-Authors: Nurkan Yagiz, Yuksel HaciogluAbstract:In this study, a backstepping control design is presented for the control of a Vehicle active suspension system. A seven degrees of freedom (DoF), non-linear Full Vehicle Model is used. Backstepping control is preferred in this study since it offers a systematic procedure for the construction of the Lyapunov functions and related feedback control laws, which guarantee the stability of the system with a very successful improvement in ride comfort. Additionally, some implementation issues concerning the controller design are addressed to improve the applicability and performance of the controller. Thereafter, the efficiency of the controller is evaluated both in time and frequency domains. For the time domain analysis, different road conditions are considered in order to reveal the performance of the controller in detail. Finally, some concluding remarks are given at the end of the paper.
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vibrations of a rectangular bridge as an isotropic plate under a traveling Full Vehicle Model
Journal of Vibration and Control, 2006Co-Authors: Nurkan Yagiz, Emir L SakmanAbstract:In this paper we analyze the vibrations of a bridge Modeled as an isotropic plate with all sides simply supported under the effect of a moving load due to a Full Vehicle having seven degrees of freedom. A mathematical Model of the bridge is obtained by applying Lagrange's formulation to orthogonal mode shapes and the non-conservative moving forces. The modern materials used in the construction of the bridges satisfy isotropic conditions mostly, and they can be Modeled as rectangular plates with four sides simply supported. The time responses of the mid-span and quarter-span of the bridge are obtained. The transverse vibration of the bridge and the body bounce, pitch, and roll of the Vehicle are presented for different Vehicle speeds. Finally, the bending moment at the mid-span is presented for different Vehicle speeds to aid in the structural design of the bridge.
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COMPARISON AND EVALUATION OF DIFFERENT CONTROL STRATEGIES ON A Full Vehicle Model WITH PASSENGER SEAT USING SLIDING MODES
International Journal of Vehicle Design, 2004Co-Authors: Nurkan YagizAbstract:In this study, the dynamic behaviour of a non-linear Full Vehicle Model having active suspensions and a controlled passenger seat is examined. The non-linearity comes from the dry friction on dampers. The suspensions considered are Mc Pherson strut type of independent suspensions. Three cases of control strategies are taken into account. First, only the passenger seat is controlled. Second, only the Vehicle body is controlled. Then, both the Vehicle body and the passenger seat are controlled at the same time. The method is chattering free sliding mode control, which is robust and successFully applicable to non-linear systems with superior performance. The time responses of the non-linear Vehicle Model due to road disturbance and frequency responses of the linear Vehicle Model are obtained for each control strategy. At the end, performances of these strategies have been compared and discussed.
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sliding mode control of active suspensions for a Full Vehicle Model
International Journal of Vehicle Design, 2001Co-Authors: Nurkan Yagiz, Ismail YuksekAbstract:In this study, a linear seven degrees of freedom Vehicle Model is used in order to design and check the performance of Sliding Mode Controlled Active Suspensions. Force Actuators are mounted as parallel to the four suspensions and a non-chattering control is realised. Sliding Mode Control is preferred because of its robust character since any change in Vehicle parameters should not affect the performance of the active suspensions. Improvement in ride comfort is aimed by decreasing the amplitudes of motions of Vehicle body. Body bounce, pitch and roll motions of the Vehicle are simulated both in time domain in case of travelling on a limited ramp type of road profile and frequency domain. Also phase plane plots of them are checked. The robustness of the controller has been proved by using different Vehicle parameters such as Vehicle mass and damper ratios. Simulation results are compared with the ones of passive suspensions.
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robust control of active suspensions for a Full Vehicle Model using sliding mode control
Jsme International Journal Series C-mechanical Systems Machine Elements and Manufacturing, 2000Co-Authors: Nurkan Yagiz, Ismail Yuksek, Selim SivriogluAbstract:In this study, a non-linear seven degrees of freedom Vehicle Model is used in order to design and check the performance of sliding mode controlled active suspensions. Force actuators are mounted as parallel to the four suspensions and a non-chattering control is realized. Sliding mode control is preferred because of its robust character since any change in Vehicle parameters should not affect the performance of the active suspensions. Improvement in ride comfort is aimed by decreasing the amplitudes of motions and acceleration of Vehicle body. Body bounce, pitch and yaw motions of the Vehicle are simulated both in time domain in case of travelling on a limited ramp type of road profile. The robustness of the controller has been proved by using different Vehicle parameters such as Vehicle mass and damper ratios. Also, phase plane plots of them are plotted. Simulation results are compared with the ones of passive suspensions.
Luc Dugard - One of the best experts on this subject based on the ideXlab platform.
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design of a fast real time lpv Model predictive control system for semi active suspension control of a Full Vehicle
Journal of The Franklin Institute-engineering and Applied Mathematics, 2019Co-Authors: Olivier Sename, Marcelo Menezes Morato, Manh Quan Nguyen, Luc DugardAbstract:Abstract This article is concerned with the control of a Semi-Active suspension system of a 7DOF Full Vehicle Model, equipped with four Electro Rheological (ER) dampers, taking into account their incipient dissipativity constraints. Herein, a real-time, fast, advanced control structure is presented within the Model Predictive Control framework for Linear Parameter Varying (LPV) systems. The control algorithm is developed to provide a suitable trade-off between comfort and handling performances of the Vehicle in a very limited sampling period ( T s = 5 ms ), in view of a possible realtime implementation on a real Vehicle. The control structure is tested and compared to other standard fast control approaches. Full nonlinear realistic simulation results illustrate the overall good operation and behaviour of the proposed control approach.
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a new lpv ℋ semi active suspension control strategy with performance adaptation to roll behavior based on non linear algebraic road profile estimation
Conference on Decision and Control, 2013Co-Authors: Soheib Fergani, Olivier Sename, Luc Dugard, Lghani Menhour, Dandrea B NovelAbstract:This paper presents a new LPV/H∞ semi-active suspension control strategy for a commercial Vehicle equipped with 4 Magneto-Rheological dampers. The proposed approach concerns road adaptation using on-line road profile identification based on a non linear algebraic observer with unknown input. Then, the suspensions forces distribution in each corner of Vehicle is performed considering roll dynamics. In this LPV/H∞ strategy, 2 varying parameters are used to Model the semi-active behaviour of the MR dampers, and 2 other ones, namely, the road roughness identification and roll dynamics, are considered for the road adaptation and the Full Vehicle vertical dynamics control. Different ISO road classes are used to test the efficiency of the on-line non linear algebraic road profile identification. Simulations scenarios, applied on a non linear Full Vehicle Model, are used to evaluate the LPV/H∞ controller performances in term of passengers comfort and road holding improvement in different driving situations.
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Vehicle dynamic stability improvements through gain scheduled steering and braking control
Vehicle System Dynamics, 2011Co-Authors: Charles Poussotvassal, Olivier Sename, Luc Dugard, Sergio M SavaresiAbstract:This paper is concerned with the synthesis of a robust gain-scheduled ℋ∞ MIMO Vehicle dynamic stability controller (VDSC) involving both steering and rear braking actuators. This VDSC aims at improving automotive Vehicle yaw stability and lateral performances. The aim of this work is to provide a methodology to synthesise such a controller while taking into account the braking actuator limitations and use the steering actuator only if it is necessary. These objectives are treated in an original way by the synthesis of a parameter-dependent controller built in the LPV framework and by the solution of an LMI problem. The proposed solution is coupled with a local ABS strategy to guarantee slip stability and make the solution complete. Nonlinear time and frequency domain simulations on a complex Full Vehicle Model (which has been validated on a real car), subject to critical driving situations, show the efficiency and robustness of the proposed solution.
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gain scheduled lpv h controller based on direct yaw moment and active steering for Vehicle handling improvements
Conference on Decision and Control, 2010Co-Authors: Moustapha Doumiati, Olivier Sename, Luc Dugard, John J Martinez, Charles PoussotvassalAbstract:This paper deals with the design of a control scheme that integrates braking and front steering to enhance the Vehicle yaw stability and the lateral Vehicle dynamics. The proposed VDSC (Vehicle Dynamic Stability Controller) allows control of the yaw rate and obtains good response for the sideslip angle. Besides, this controller takes into account the braking actuator limitations (i.e braking only the rear wheels) and limits the use of the steering actuator only in the linear Vehicle handling region (stability region). To reach these objectives, an original parameter dependent LPV controller structure with consistent performances weights is designed. The solution of the problem is obtained within the LMI framework, while warranting H∞ performances. To prevent tires longitudinal slip due to brake forces generated by the controller, an ABS strategy is included in the control scheme. Computer simulations, carried out on a complex Full Vehicle Model subject to critical driving situations, confirm the effectiveness of the proposed control system and the overall improvements in Vehicle handling and stability.
Marcelo Menezes Morato - One of the best experts on this subject based on the ideXlab platform.
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design of a fast real time lpv Model predictive control system for semi active suspension control of a Full Vehicle
Journal of The Franklin Institute-engineering and Applied Mathematics, 2019Co-Authors: Olivier Sename, Marcelo Menezes Morato, Manh Quan Nguyen, Luc DugardAbstract:Abstract This article is concerned with the control of a Semi-Active suspension system of a 7DOF Full Vehicle Model, equipped with four Electro Rheological (ER) dampers, taking into account their incipient dissipativity constraints. Herein, a real-time, fast, advanced control structure is presented within the Model Predictive Control framework for Linear Parameter Varying (LPV) systems. The control algorithm is developed to provide a suitable trade-off between comfort and handling performances of the Vehicle in a very limited sampling period ( T s = 5 ms ), in view of a possible realtime implementation on a real Vehicle. The control structure is tested and compared to other standard fast control approaches. Full nonlinear realistic simulation results illustrate the overall good operation and behaviour of the proposed control approach.
