Sliding Mode Observer Based Controller for Active Steering Control
Keywords:Controller, Nonlinear System, Observer, Sliding Mode Control, Stability,
AbstractThe purpose of this paper is to enhance the performance of steering control of a vehicle. A nonlinear sliding mode observer based active steering controller that will overcome the disturbances such as road condition and crosswind is proposed. Condition of stability is given by using Lyapunov stability theory that relates to sliding mode characteristics. The controller proves that it is able to stabilize the steering wheel better when disturbances such as braking action and crosswind are included in the system. Lastly, simulations are given to prove the validity of the controller stability. In the simulations, comparisons are made between the outcome of the uncontrolled, Linear Quadratic Regulator (LQR), Sliding Mode Controller (SMC) and Sliding Mode Observer Based Controller (SMOC).
S. Yoo, S.-H. You, J. Jo, D. Kim, and K. I. Lee, “Optimal integration of active 4 wheel steering and direct yaw moment control,” IFAC Proceedings Volumes, vol. 39, no. 12, pp. 603 – 608, 2006.
B. Aksun-G¨uvenc, T. B¨unte, B. Odenthal, and G. L., “Robust two degree-of-freedom vehicle steering controller design,” IEEE Transactions on Control Systems Technology, vol. 12, no. 4, pp. 627– 636, 2004, lIDO-Berichtsjahr=2004.
P. Falcone, F. Borrelli, J. Asgari, H. E. Tseng, and D. Hrovat, “Predictive Active Steering Control for Autonomous Vehicle Systems,” IEEE Transactions on Control Systems Technology, vol. 15, no. 3, pp. 566–580, May 2007. [Online]. Available: http://dx.doi.org/10.1109/tcst.2007.894653
S. D. Cairano, H. Tseng, D. Bernardini, and A. Bemporad, “Steering vehicle control by switched model predictive control,” IFAC Proceedings Volumes, vol. 43, no. 7, pp. 1 – 6, 2010.
Y. Hirano and K. Fukatani, “Development of robust active rear steering control for automobile,” JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing, vol. 40, no. 2, pp. 231–238, 1997.
M. Canale and L. Fagiano, “Stability control of 4ws vehicles using robust imc techniques,” Vehicle System Dynamics, vol. 46, no. 11, pp. 991–1011, 2008.
H. Jing, R. Wang, M. Chadli, C. Hu, F. Yan, and C. Li, “Faulttolerant control of four-wheel independently actuated electric vehicles with active steering systems,” IFAC-PapersOnLine, vol. 48, no. 21, pp. 1165 – 1172, 2015.
M. Canale, L. Fagiano, M. Milanese, and P. Borodani, “Robust vehicle yaw control using an active differential and imc techniques,” Control Engineering Practice, vol. 15, no. 8, pp. 923–941, 2007.
M. Canale, L. Fagiano, and V. Razza, “Approximate nmpc for vehicle stability: design, implementation and sil testing,” Control engineering practice, vol. 18, no. 6, pp. 630–639, 2010.
M. Nagai, M. Shino, and F. Gao, “Study on integrated control of active front steer angle and direct yaw moment,” JSAE review, vol. 23, no. 3, pp. 309–315, 2002.
V. Thakar, “On analysis of multi-rate output feedback based discrete sliding mode control using transform method,” in 2012 12th International Workshop on Variable Structure Systems, Jan 2012, pp. 303–307.
B. Sapiski, M. Ros, and . Jastrzbski, “Measurement-control system for an automotive vehicle engine mount,” in Proceedings of the 2015 16th International Carpathian Control Conference (ICCC), May 2015, pp. 448–451.
R. Marino and S. Scalzi, “Integrated active front steering and semiactive rear differential control in rear wheel drive vehicles,” IFAC Proceedings Volumes, vol. 41, no. 2, pp. 10 732 – 10 737, 2008.
E. Ono and Y. Hattori, “Vehicle motion control device and control method,” Oct. 30 2012, uS Patent 8,301,353.
E. Mehrjerdian, A. Gaedke, R. Greul, and T. Bertram, “Efficiency of steering torque recommendation in limits of driving dynamics: an empirical study,” IFAC Proceedings Volumes, vol. 43, no. 7, pp. 650– 655, 2010.
A. Marar, D. Ginoya, S. B. Phadke, and P. D. Shendge, “Robust yaw stability control based on disturbance observer using active front steering,” in 2015 International Conference on Industrial Instrumentation and Control (ICIC), May 2015, pp. 1367–1372.
M. K. Aripin, R. Ghazali, Y. M. Sam, K. Danapalasingam, and M. F. Ismail, “Uncertainty modelling and high performance robust controller for active front steering control,” in 2015 10th Asian Control Conference (ASCC), May 2015, pp. 1–6.
C. Hu, R. Wang, F. Yan, and P. Chen, “Integral sliding mode yaw control for in-wheel-motor driven and differentially steered electric vehicles with mismatched disturbances,” in 2017 American Control Conference (ACC), May 2017, pp. 1654–1659.
N. M. Ghani, Y. M. Sam, and A. Ahmad, “Active steering for vehicle system using sliding mode control,” in 2006 4th Student Conference on Research and Development, June 2006, pp. 256– 261.
J. Ackermann and T. B¨unte, “Yaw disturbance attenuation by robust decoupling of car steering,” Control Engineering Practice, vol. 5, no. 8, pp. 1131–1136, 1997.
How to Cite
TRANSFER OF COPYRIGHT AGREEMENT
The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):
- All proprietary right other than copyright, such as patent rights
- The right to make further copies of all or part of the published article for my use in classroom teaching
- The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
- The right to make copies of the published work for internal distribution within the institution that employs me
I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.