Interior-Point Method to Optimize Tire Force Allocation in 4-Wheeled Vehicles Using High-Level Sliding Mode Control with Adaptive Gain

2012 ◽  
Vol 15 (4) ◽  
pp. 1188-1200 ◽  
Author(s):  
Ali Tavasoli ◽  
Mahyar Naraghi
Keyword(s):  
Sliding Mode Control ◽  
Interior Point ◽  
Interior Point Method ◽  
Sliding Mode ◽  
Point Method ◽  
Tire Force ◽  
Mode Control ◽  
High Level ◽  
Wheeled Vehicles

scholarly journals Vehicle Sliding Mode Control with Adaptive Upper Bounds: Static versus Dynamic Allocation to Saturated Tire Forces

2012 ◽  
Vol 2012 ◽  
pp. 1-31 ◽  
Author(s):  
Ali Tavasoli ◽  
Mahyar Naraghi
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Control ◽  
Upper Bounds ◽  
Vehicle Control ◽  
Control Allocation ◽  
Level Control ◽  
Mode Control ◽  
Tire Forces ◽  
High Level

Nonlinear vehicle control allocation is achieved through distributing the task of vehicle control among individual tire forces, which are constrained to nonlinear saturation conditions. A high-level sliding mode control with adaptive upper bounds is considered to assess the body yaw moment and lateral force for the vehicle motion. The proposed controller only requires the online adaptation of control gains without acquiring the knowledge of upper bounds on system uncertainties. Static and dynamic control allocation approaches have been formulated to distribute high-level control objectives among the system inputs. For static control allocation, the interior-point method is applied to solve the formulated nonlinear optimization problem. Based on the dynamic control allocation method, a dynamic update law is derived to allocate vehicle control to tire forces. The allocated tire forces are fed into a low-level control module, where the applied torque and active steering angle at each wheel are determined through a slip-ratio controller and an inverse tire model. Computer simulations are used to prove the significant effects of the proposed control allocation methods on improving the stability and handling performance. The advantages and limitations of each method have been discussed, and conclusions have been derived.

Combined Sliding Mode Control with a Feedback Linearization for Speed Control of Induction Motor

2011 ◽  
Vol 7 (1) ◽  
pp. 19-24
Author(s):  
Aamir Hashim Obeid Ahmed ◽  
Martino O. Ajangnay ◽  
Shamboul A. Mohamed ◽  
Matthew W. Dunnigan
Keyword(s):  
Sliding Mode Control ◽  
Induction Motor ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Speed Control ◽  
Mode Control

Adjust Method of Nonlinear Gain in Four-Wheel Steering Control Using Sliding Mode Control

2009 ◽  
Vol 129 (7) ◽  
pp. 1389-1396 ◽  
Author(s):  
Misawa Kasahara ◽  
Yuki Kanai ◽  
Ryoko Shiraki ◽  
Yasuchika Mori
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Steering Control ◽  
Nonlinear Gain ◽  
Mode Control
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