Event-Triggered Adaptive Robust Control for Lateral Stability of Steer-by-Wire Vehicles with Abrupt Nonlinear Faults
Technical Paper
2022-01-5056
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Event:
Automotive Technical Papers
Language:
English
Abstract
Because autonomous vehicles (AVs) equipped with active front steering have the
features of time varying, uncertainties, high rate of fault, and high burden on
the in-vehicle networks, this article studies the adaptive robust control
problem for improving lateral stability in steer-by-wire (SBW) vehicles in the
presence of abrupt nonlinear faults. First, an upper-level robust
H∞ controller is designed to obtain the desired
front-wheel steering angle for driving both the yaw rate and the sideslip angle
to reach their correct values. Takagi-Sugeno (T-S) fuzzy modeling method, which
has shown the extraordinary ability in coping with the issue of nonlinear, is
applied to deal with the challenge of the changing longitudinal velocity. The
output of the upper controller can be calculated by a parallel distributed
compensation (PDC) scheme. Then an event-triggered adaptive fault-tolerant lower
controller (ET-AFTC) is proposed to drive the whole SBW system driving the
desired steering angle offered by the upper controller with fewer communication
resources and strong robustness. By employing a backstepping technique, the
tracking performance is improved. The dynamic surface control (DSC) approach is
used to avoid the problem of repeated differentiations, and Nussbaum function is
adopted to overcome the difficulty of unknown nonlinear control gain. Both the
stability of the upper and lower controllers can be guaranteed by Lyapunov
functions. Finally, the simulations of Matlab/Simulink are given to show that
the proposed control strategy is effectively able to deal with the abrupt
nonlinear fault via less communication resources and perform better in ensuring
the yaw stability of the vehicle.
Authors
Topic
Citation
Gong, Z. and Xie, Z., "Event-Triggered Adaptive Robust Control for Lateral Stability of Steer-by-Wire Vehicles with Abrupt Nonlinear Faults," SAE Technical Paper 2022-01-5056, 2022, https://doi.org/10.4271/2022-01-5056.Also In
References
- Zhang , J. , Wang , H. , Zheng , J. , Cao , Z. et al. Adaptive Sliding Mode-Based Lateral Stability Control of Steer-by-Wire Vehicles with Experimental Validations IEEE Transactions on Vehicular Technology 69 9 2020 9589 9600 https://doi.org/10.1109/TVT.2020.3003326
- Chang , X. , Liu , Y. , and Shen , M. Resilient Control Design for Lateral Motion Regulation of Intelligent Vehicle IEEE/ASME Transactions on Mechatronics 24 6 2019 2488 2497 https://doi.org/10.1109/TMECH.2019.2946895
- Zhang , H. and Wang , J. Vehicle Lateral Dynamics Control through AFS/DYC and Robust Gain-Scheduling Approach IEEE Transactions on Vehicular Technology 65 1 2016 489 494 https://doi.org/10.1109/TVT.2015.2391184
- Jin , X. , Yu , Z. , Yin , G. , and Wang , J. Improving Vehicle Handling Stability Based on Combined AFS and DYC System via Robust Takagi-Sugeno Fuzzy Control IEEE Transactions on Intelligent Transportation Systems 19 8 2018 2696 2707 https://doi.org/10.1109/TITS.2017.2754140
- Jin , X. , Yin , G. , Li , Y. et al. Stabilizing Vehicle Lateral Dynamics with Considerations of State Delay of AFS for Electric Vehicles via Robust Gain-Scheduling Control Asian Journal of Control 18 1 2016 89 97 https://doi.org/10.1002/asjc.1161
- Chang , X. and Liu , Y. Quantized Output Feedback Control of AFS for Electric Vehicles with Transmission Delay and Data Dropouts IEEE Transactions on Intelligent Transportation Systems 10 5 2022 1 12 https://doi.org/10.1109/TITS.2022.3147481
- Ma , X. , Wong , P. , Zhao , J. et al. Cornering Stability Control for Vehicles with Active Front Steering System Using T-S Fuzzy Based Sliding Mode Control Strategy Mechanical Systems and Signal Processing 124 347 2019 347 364 https://doi.org/10.1016/j.ymssp.2018.05.059
- Li , Z. , Dong , J. , and Xi , C. Event-Triggered Adaptive Reliable Guaranteed Performance Control for Uncertain Nonlinear Systems with Abrupt Non-Affine Faults Applied Mathematics and Computation 380 56 2020 125256 https://doi.org/10.1016/j.amc.2020.125256
- Sun , Z. , Zheng , J. , Man , Z. , and Hai , H. Robust Control of a Vehicle Steer-by-Wire System Using Adaptive Sliding Mode IEEE Transactions on Industrial Electronics 63 4 2016 2251 2262 https://doi.org/10.1109/TIE.2015.2499246
- Hayama , R. , Higashi , M. , Kawahara , S. et al. Fault-Tolerant Automobile Steering Based on Diversity of Steer-by-Wire, Braking and Acceleration Reliability Engineering & System Safety 95 1 2010 10 17 https://doi.org/10.1016/j.ress.2009.07.003
- Ma , K. , Xie , Z. , Wong , P. et al. Robust Takagi-Sugeno Fuzzy Fault Tolerant Control for Vehicle Lateral Dynamics Stabilization with Integrated Actuator Fault and Time Delay Journal of Dynamic Systems Measurement and Control-Transactions of the ASME 144 2 2022 021002 https://doi.org/10.1115/1.4052273
- Seyed , A. , Ahmad , G. , Mohammad , E. , and Masood , H. Recent Developments in the Vehicle Steer-by-Wire System IEEE Transactions on Transportation Electrification 6 3 2020 1226 1235 https://doi.org/10.1109/TTE.2020.3004694
- Zhang , Z. , Liang , H. , Wu , C. , and Choon , K. Adaptive Event-Triggered Output Feedback Fuzzy Control for Nonlinear Networked Systems with Packet Dropouts and Actuator Failure IEEE Transactions on Fuzzy Systems 27 9 2019 1793 1806 https://doi.org/10.1109/TFUZZ.2019.2891236
- Wang , G. , Mohammed , C. , Chen , H. , and Zhou , Z. Event-Triggered Control for Active Vehicle Suspension Systems with Network-Induced Delays Journal of the Franklin Institute 356 1 2019 147 172 https://doi.org/10.1016/j.jfranklin.2018.10.012
- Li , W. , Xie , Z. , Zhao , J. , and Wong , P.K. Velocity-Based Robust Fault Tolerant Automatic Steering Control of Autonomous Ground Vehicles via Adaptive Event Triggered Network Communication Mechanical Systems and Signal Processing 143 4 2020 106798 https://doi.org/10.1016/j.ymssp.2020.106798
- Luo , G. , Wang , Z. , Ma , B. , Wang , Y. et al. Observer-Based Interval Type-2 Fuzzy Friction Modeling and Compensation Control for Steer-by-Wire System Neural Computing & Applications 33 16 2021 10429 10448 https://doi.org/10.1007/s00521-021-05801-5
- Jin , X. , Yu , Z. , Yin , G. , and Wang , J. Improving Vehicle Handling Stability Based on Combined AFS and DYC System via Robust Takagi-Sugeno Fuzzy Control IEEE Transactions on Intelligent Transportation Systems 19 8 2018 2696 2707 https://doi.org/10.1109/TITS.2017.275414