Composite Nonlinear Feedback Control with Multi-objective Particle Swarm Optimization for Active Front Steering System

2015 ◽  
Vol 72 (2) ◽  
Author(s):  
Liyana Ramli ◽  
Yahaya Md. Sam ◽  
Zaharuddin Mohamed ◽  
M. Khairi Aripin ◽  
M. Fahezal Ismail
Keyword(s):  
Parameter Estimation ◽  
Particle Swarm Optimization ◽  
Nonlinear Feedback ◽  
Nonlinear Gain ◽  
Composite Nonlinear Feedback ◽  
Swarm Optimization ◽  
Vehicle Handling ◽  
Multi Objective ◽  
Yaw Rate ◽  
Active Front Steering

The purpose of controlling the vehicle handling is to ensure that the vehicle is in a safe condition and following its desire path. Vehicle yaw rate is controlled in order to achieve a good vehicle handling. In this paper, the optimal Composite Nonlinear Feedback (CNF) control technique is proposed for an Active Front Steering (AFS) system for improving the vehicle yaw rate response. The model used in order to validate the performance of controller is nonlinear vehicle model with 7 degree-of-freedom (DOF) and a bicycle model is implemented for the purpose of designing the controller. In designing an optimal CNF controller, the parameter estimation of linear and nonlinear gain becomes very important to produce the best output response. An intelligent algorithm is designed to minimize the time consumed to get the best parameter. To design an optimal method, Multi Objective Particle Swarm Optimization (MOPSO) is utilized to optimize the CNF controller performance. As a result, transient performance of the yaw rate has improved with the increased speed of in tracking and searching of the best optimized parameter estimation for the linear and the nonlinear gain of CNF controller.  

scholarly journals Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control

2019 ◽  
Vol 8 (1) ◽  
pp. 214-222
Author(s):  
Sarah 'Atifah Saruchi ◽  
Mohd Hatta Mohammed Ariff ◽  
Hairi Zamzuri ◽  
Noraishikin Zulkarnain ◽  
Mohd Hanif Che Hasan ◽  
...  
Keyword(s):  
Disturbance Observer ◽  
Wind Disturbance ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Yaw Control ◽  
Yaw Rate ◽  
Active Front Steering ◽  
Steer By Wire ◽  
Hardware In Loop ◽  
Simulation And Validation

Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.

Composite Nonlinear Feedback with Disturbance Observer for Active Front Steering

2017 ◽  
Vol 7 (2) ◽  
pp. 434 ◽  
Author(s):  
Sarah 'Atifah Saruchi ◽  
Hairi Zamzuri ◽  
Noraishikin Zulkarnain ◽  
Norbaiti Wahid ◽  
Mohd Hatta Mohammed Ariff
Keyword(s):  
Control Strategy ◽  
Disturbance Observer ◽  
Linear Quadratic Regulator ◽  
Nonlinear Feedback ◽  
Linear Quadratic ◽  
Composite Nonlinear Feedback ◽  
Yaw Rate ◽  
Active Front Steering ◽  
J Curve ◽  
Tracking Response

<p>One of the dominant virtue of Steer-By-Wire (SBW) vehicle is its capability to enhance handling performance by installing Active Front Steering (AFS) system without the driver’s interferences. Hence, this paper introduced an AFS control strategy using the combination of Composite Nonlinear Feedback (CNF) controller and Disturbance Observer (DOB) to achieve fast yaw rate tracking response which is also robust to the existence of disturbance. The proposed control strategy is simulated in J-curve and Lane change manoevres with the presence of side wind disturbance via Matlab/Simulink sotware. Futhermore, comparison with Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) controllers are also conducted to evaluate the effectiveness of the proposed controller. The results showed that the combined CNF and DOB strategy achieved the fastest yaw rate tracking capability with the least impact of disturbance in the AFS system installed in SBW vehicle.</p>

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