Authors: Jung Hua Yang, Cheng Che Yang
Addresses: Department of Vehicle Engineering, National Pingtung University of Science and Technology, No. 1, Hsieh Fu Road, Neipu, Pingtung, Taiwan. ' Department of Vehicle Engineering, National Pingtung University of Science and Technology, No. 1, Hsieh Fu Road, Neipu, Pingtung, Taiwan
Abstract: This paper addresses the problem of controlling a vehicle motion system by continuously adjusting the brake torque. A full-order model which consists of the vehicle motion subsystem, wheel dynamics, and servo-valve hydraulic actuator is under consideration. Based on the varying dynamic structure of the system, the controllers are designed for two cases. The first case, i.e., when the slip rate is small, considers the trajectory tracking control for stopping of vehicle motion, and an adaptive control scheme is developed. In the second case, i.e., when the slip rate is large, rapid reduction of slip rate is deemed as the control target so that an adaptive sliding mode control is proposed to achieve such a goal. Finally, due to unknown changing condition, a composite form of the above-mentioned controllers is then constructed by applying the fuzzy composition concept. Asymptotic stability of the overall system is confirmed via Lyapunov stability theorem and is also demonstrated by computer simulations.
Keywords: sliding mode control; adaptive control; fuzzy control; brake control; vehicle braking systems; brake torque; vehicle motion; wheel dynamics; servo-valve hydraulic actuators; trajectory tracking; tracking control; simulation.
International Journal of Modelling, Identification and Control, 2008 Vol.4 No.2, pp.112 - 126
Published online: 03 Nov 2008 *Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article