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Adaptive Robust Control of Multi-axle Vehicle Electro-hydraulic Power Steering System with Uncertain Tire Steering Resistance Moment

Heng Du, Zhongbao Wang, Yaxiong Wang, Hui Huang
2018 IEEE Access  
, valve-controlled double hydraulic actuators, and heavy-duty tires, an adaptive robust control algorithm is developed to estimate the tire steering resistance moment online and compensate for the model  ...  To investigate the unknown (uncertain) tire steering resistance moment and model uncertainties in a multi-axle vehicle electro-hydraulic power steering system (EHPSS), including the steering mechanisms  ...  vehicle electro-hydraulic power steering system (EHPSS), including steering mechanisms, valve-controlled double hydraulic actuators and heavy-duty tires.  ... 
doi:10.1109/access.2018.2845904 fatcat:bkaussiwarg7zm4x44ucdh26wq

Lateral Control of Commercial Heavy Vehicles

Chieh Chen, Masayoshi Tomizuka
2000 Vehicle System Dynamics  
Two nonlinear lateral control algorithms are designed for a tractor-semitrailer type commercial heavy vehicle.  ...  The baseline steering control algorithm is designed utilizing input-output linearization.  ...  The backstepping design methodology is originally introduced in the adaptive control theory to systematically and recursively construct the feedback control law, the parameter adaptation law and the associated  ... 
doi:10.1076/0042-3114(200006)33:6;1-m;ft391 fatcat:qeutvxyn2nebncemlw3df23zyi

Are Self-Driving Vehicles Ready to Launch? An Insight into Steering Control in Autonomous Self-Driving Vehicles

Marya Rasib, Muhammad Atif Butt, Shehzad Khalid, Samia Abid, Faisal Raiz, Sohail Jabbar, Kijun Han, Mehmet Cunkas
2021 Mathematical Problems in Engineering  
In this regard, we present a comprehensive study considering the evolution of steering control methods for self-driving vehicles.  ...  To the best of our knowledge, currently, there is no taxonomy available, which elaborates steering control methods for self-driving vehicles.  ...  [50] proposed a robust linear-quadratic regulator-(RLQR-) based steering controller for lateral regulation for an articulated heavy-duty vehicle (AHDV) that does not rely on offline adjustment of tuning  ... 
doi:10.1155/2021/6639169 fatcat:btneip645ra4denpv2trdddnui

Robust path-following control for articulated heavy-duty vehicles [article]

Filipe Marques Barbosa, Lucas Barbosa Marcos, Maira Martins da Silva, Marco Henrique Terra, Valdir Grassi Jr
2018 arXiv   pre-print
Hence, this paper presents an approach to path-following and lateral control for autonomous articulated heavy-duty vehicles subject to parametric uncertainties by using a robust recursive regulator.  ...  These parametric variations must be taken into account during the design of the controller.  ...  References  ... 
arXiv:1808.02189v1 fatcat:3ttrtjmbnbdupiyi4ztax6zxoq

Author Index

2006 2006 14th Mediterranean Conference on Control and Automation  
Robust Model Reference Adaptive Control of Active Suspension System WLA1-3 Sename, O.  ...  Robust Model Reference Adaptive Control of Active Suspension System WLA1-3 Mammarella, M.  ... 
doi:10.1109/med.2006.328715 fatcat:rjjaot7sdzdsxe2ljxq56lfsdu

Research advances in intelligent collision avoidance and adaptive cruise control

A. Vahidi, A. Eskandarian
2003 IEEE transactions on intelligent transportation systems (Print)  
This paper looks into recent developments and research trends in collision avoidance/warning systems and automation of vehicle longitudinal/lateral control tasks.  ...  Based on diversely selected research, this paper explains the initiatives for automation in different levels of transportation system with a specific emphasis on the vehicle-level automation.  ...  More recently the interest has been more on fleets of heavy duty vehicles (HDV). In [26] a design for truck platoon control is explained and experimented.  ... 
doi:10.1109/tits.2003.821292 fatcat:2g6zj5f5yjbohoutvoq7haggzm

Optimal Complete Vehicle Control for Fuel Efficiency

Olof Lindgärde, Mikael Söderman, Anders Tenstam, Lei Feng
2016 Transportation Research Procedia  
This paper presents details on the model predictive controller of the battery system and of the cooling system. Another project goal is to reduce fuel consumption by using adaptive aerodynamics.  ...  Several energy buffers are controlled in an integrated and optimal way using model predictive control.  ...  Fuel costs are a significant proportion of the total cost for owners of heavy duty long-haul trucks.  ... 
doi:10.1016/j.trpro.2016.05.179 fatcat:5ngj4pqmujdojp76edxeh7o4c4

Hopf Bifurcation Characteristics of Dual-Front Axle Self-Excited Shimmy System for Heavy Truck considering Dry Friction

Daogao Wei, Ke Xu, Yibin Jiang, Changhe Chen, Wenjing Zhao, Fugeng Zhou
2015 Shock and Vibration  
Multiaxle steering is widely used in commercial vehicles. However, the mechanism of the self-excited shimmy produced by the multiaxle steering system is not clear until now.  ...  This study takes a dual-front axle heavy truck as sample vehicle and considers the influences of mid-shift transmission and dry friction to develop a 9 DOF dynamics model based on Lagrange's equation.  ...  Conflict of Interests The authors declare that there is no conflict of interests regarding the publication of this paper.  ... 
doi:10.1155/2015/839801 fatcat:uitdxij6vbcd3esf5yluzwlasy

Preventive and Active Safety Applications [article]

Levent Guvenc
2022 arXiv   pre-print
Passive safety systems include the design of safety restraints, design for crashworthiness, seat belts and air bags.  ...  The aim of passive safety systems is to reduce risk of injury to the occupants of the vehicle during and after an accident like a crash or rollover.  ...  The author would like to thank the members of the Automotive Control Research Group for their help. The kind invitation of Ford/Otosan to present this material at ICAT 2004 is also acknowledged.  ... 
arXiv:2012.08031v2 fatcat:enak4oc2izgqfh5em7xwnto2je

Markets for Fuel-Cell Auxiliary Power Units in Vehicles: Preliminary Assessment

Nicholas Lutsey, Christie-Joy Brodrick, Daniel Sperling, Harry Dwyer
2003 Transportation Research Record  
specialized utility trucks, recreational vehicles, refrigerated trucks, and line-haul heavy-duty trucks.  ...  This paper explores the potential use of fuel cells in auxiliary power units (APUs) on-board various types of cars and trucks -in luxury passenger vehicles, law enforcement vehicles, contractor trucks,  ...  Also, thanks goes to the National Science Foundation's IGERT program for student funding.  ... 
doi:10.3141/1842-14 fatcat:hatrrcadnracpjtvr2zsg2twjq

Stabilization of car-caravan combination using independent steer and drive/or brake forces distribution

Ossama Mokhiamar
2015 Alexandria Engineering Journal  
Therefore, this paper proposes a control design concept for an optimum distribution of longitudinal and lateral forces of the four tires of a towing vehicle.  ...  The sliding control law based on vehicle planar equations of motion is used to derive the control laws.  ...  Most of these systems are available for single passenger cars, but not for heavier or complex vehicles, such as an articulated heavy-duty vehicle, or lighter vehicle configuration (e.g. car-caravan combination  ... 
doi:10.1016/j.aej.2015.05.006 fatcat:3zai47e4nbcxrjl3byn2mktytu

Heavy-Duty Vehicle Braking Stability Control and HIL Verification for Improving Traffic Safety

Fahui Wang, Yongjie Lu, Haoyu Li, Yang Yang
2022 Journal of Advanced Transportation  
Finally, the actual control effect and feasibility of these control algorithms for heavy vehicle braking under special road conditions are verified by HIL experiments.  ...  Secondly, the fuzzy PID and sliding mode controller based on yaw and centroid error are designed to find the optimal control strategy from the two kinds of control strategies for HIL experiments.  ...  A2020210039), and Independent Subject of State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures (ZZ2020-32).  ... 
doi:10.1155/2022/5680599 fatcat:vqd5rntrbfcwzpdjjuse3h67ay

Research on a medium-tracked omni-vehicle

Yuan Fang, Yunan Zhang, Nianyu Li, Yinghui Shang
2020 Mechanical Sciences  
Based on the omnidirectional mobile track and an adapted symmetrical layout, a novel medium-tracked omni-vehicle was designed.  ...  The kinematic and dynamic model of the vehicle was established, and the anisotropy of the velocity and acceleration of the vehicle was analyzed.  ...  This research has been supported by the Basic Research Programs of the State Administration of Science, Technology and Industry for National Defense, PRC (grant no. 2015ZB15). Review statement.  ... 
doi:10.5194/ms-11-137-2020 fatcat:wt7qijoddjh6bfu6lljax2n7p4

Linear-Quadratic Tracking Control of a Commercial Vehicle Air Brake System

Dawei Hu, Gangyan Li, Guoming Zhu, Zihao Liu, Ming Tu
2020 IEEE Access  
To apply the LQT control law over a wide operational range to track the target pressure, the designed controller was interpolated between the neighboring controllers to have a control law cover the entire  ...  To validate this control law, the control scheme is implemented into a dSPACE unit and validated through bench tests under different supply and reference pressures.  ...  Fanping Bu [18] designed the indirect adaptive robust controller (IARC) for the pneumatic brake model aiming at stopping a heavy vehicle accurately. V.  ... 
doi:10.1109/access.2020.3016353 fatcat:hmf5y7deyzf6biyik73lhdatlu

DDPG-based Decision-making Strategy of Adaptive Cruising for Heavy Vehicles Considering Stability

Ming Sun, Weiqiang Zhao, Guanghao Song, Zhigen Nie, Xiaojian Han, Yang Liu
2020 IEEE Access  
INDEX TERMS Adaptive cruise control, autonomous driving control system, decision-making algorithm, deep reinforcement learning, heavy vehicle, vehicle stability.  ...  Subsequently, an accurate three-axle vehicle load model is established to calculate the load transfer rate value and carry out active control to increase the roll stability of heavy vehicles at high-speed  ...  CONCLUSION For a heavy-duty commercial vehicle under adaptive cruise condition, a semi-rule decision-making method was proposed, and the control accuracy guaranteed to a great extent through the accurate  ... 
doi:10.1109/access.2020.2982702 fatcat:ugo4pyn7jrg3bickn7kzf32eky
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