Journal article
Active front steering-based electronic stability control for steer-by-wire vehicles via terminal sliding mode and extreme learning machine
IEEE Transactions on Vehicular Technology, Vol.69(12), pp.14713-14726
2020
Abstract
In this article, a novel active front steering (AFS) control strategy including the upper controller and the lower controller is proposed to improve the yaw stability and maneuverability for steer-by-wire (SbW) vehicles. The adaptive recursive integral terminal sliding mode (ARITSM) control is adopted in the upper controller for guaranteeing the convergence performance of both the actual sideslip angle and the yaw rate with strong robustness and fast convergence rate. Then, a fast nonsingular terminal sliding mode (FNTSM) control with extreme learning machine (ELM) estimator to estimate its equivalent control is designed in the lower controller to track the desired front wheel steering angle calculated from the upper controller for driving the sideslip angle and the yaw rate to converge ideal value. It is shown that the upper controller takes two controlled variables (vehicle sideslip angle and yaw rate) and only one control input (front steering angle) into consideration, which can obtain a better performance compared with the case of using only one of these values. Since using the ELM technique in the lower controller to estimate the equivalent control of the FNTSM, not only the dependence of SbW system dynamics can be alleviated in the process of designing controller but also the excellent steering control performance can be achieved. Comparative simulations are carried out by utilizing Carsim and Matlab software to validate the excellent performance of the proposed control strategy for different steering maneuvers.
Details
- Title
- Active front steering-based electronic stability control for steer-by-wire vehicles via terminal sliding mode and extreme learning machine
- Authors/Creators
- J. Zhang (Author/Creator) - Hefei University of TechnologyH. Wang (Author/Creator) - Murdoch UniversityM. Ma (Author/Creator) - Hefei University of TechnologyM. Yu (Author/Creator) - Hefei University of TechnologyA. Yazdani (Author/Creator) - Murdoch UniversityL. Chen (Author/Creator) - Hangzhou Dianzi University
- Publication Details
- IEEE Transactions on Vehicular Technology, Vol.69(12), pp.14713-14726
- Publisher
- IEEE
- Identifiers
- 991005542463207891
- Copyright
- © 2020 IEEE
- Murdoch Affiliation
- School of Engineering and Energy
- Language
- English
- Resource Type
- Journal article
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- Domestic collaboration
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- Citation topics
- 4 Electrical Engineering, Electronics & Computer Science
- 4.29 Automation & Control Systems
- 4.29.1251 Vehicle Dynamics Control
- Web Of Science research areas
- Engineering, Electrical & Electronic
- Telecommunications
- Transportation Science & Technology
- ESI research areas
- Engineering