Trajectory Tracking Control of Intelligent Electric Vehicles Based on the Adaptive Spiral Sliding Mode
Aiming at the multi-objective control problem of the tracking effect and vehicle stability in the process of intelligent vehicle trajectory tracking, a coordinated control strategy of the trajectory tracking and stability of intelligent electric vehicles is proposed based on the hierarchical control...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/24/11739 |
| _version_ | 1827674330568327168 |
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| author | Yanxin Nie Minglu Zhang Xiaojun Zhang |
| author_facet | Yanxin Nie Minglu Zhang Xiaojun Zhang |
| author_sort | Yanxin Nie |
| collection | DOAJ |
| description | Aiming at the multi-objective control problem of the tracking effect and vehicle stability in the process of intelligent vehicle trajectory tracking, a coordinated control strategy of the trajectory tracking and stability of intelligent electric vehicles is proposed based on the hierarchical control theory. The vehicle dynamics model and trajectory tracking model are established. In order to tackle the chattering problem in the traditional sliding mode controller, an Adaptive Spiral Sliding Mode controller is designed by taking the derivative of the controller as the upper controller, which is intended to reduce the heading deviation and lateral deviation in the trajectory tracking process whilst ensuring the stability of the vehicle itself. In the lower controller, a four-wheel tire force optimal distribution method is designed. According to the requirements of the upper controller, combined with the yaw stability of the vehicle, the directional control distribution of the four-wheel tire force is realized. A joint simulation model was built based on CarSim and Simulink, and simulation experiments were performed. The results show that the proposed control strategy can effectively control the heading deviation and lateral deviation in the vehicle trajectory tracking while ensuring the lateral stability of the vehicle. |
| first_indexed | 2024-03-10T04:37:58Z |
| format | Article |
| id | doaj.art-cab7f7cf22ff4bfc87a055787e1558ab |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T04:37:58Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-cab7f7cf22ff4bfc87a055787e1558ab2023-11-23T03:37:35ZengMDPI AGApplied Sciences2076-34172021-12-0111241173910.3390/app112411739Trajectory Tracking Control of Intelligent Electric Vehicles Based on the Adaptive Spiral Sliding ModeYanxin Nie0Minglu Zhang1Xiaojun Zhang2School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, ChinaAiming at the multi-objective control problem of the tracking effect and vehicle stability in the process of intelligent vehicle trajectory tracking, a coordinated control strategy of the trajectory tracking and stability of intelligent electric vehicles is proposed based on the hierarchical control theory. The vehicle dynamics model and trajectory tracking model are established. In order to tackle the chattering problem in the traditional sliding mode controller, an Adaptive Spiral Sliding Mode controller is designed by taking the derivative of the controller as the upper controller, which is intended to reduce the heading deviation and lateral deviation in the trajectory tracking process whilst ensuring the stability of the vehicle itself. In the lower controller, a four-wheel tire force optimal distribution method is designed. According to the requirements of the upper controller, combined with the yaw stability of the vehicle, the directional control distribution of the four-wheel tire force is realized. A joint simulation model was built based on CarSim and Simulink, and simulation experiments were performed. The results show that the proposed control strategy can effectively control the heading deviation and lateral deviation in the vehicle trajectory tracking while ensuring the lateral stability of the vehicle.https://www.mdpi.com/2076-3417/11/24/11739intelligent vehicletrajectory trackingvehicle stabilitysliding mode |
| spellingShingle | Yanxin Nie Minglu Zhang Xiaojun Zhang Trajectory Tracking Control of Intelligent Electric Vehicles Based on the Adaptive Spiral Sliding Mode Applied Sciences intelligent vehicle trajectory tracking vehicle stability sliding mode |
| title | Trajectory Tracking Control of Intelligent Electric Vehicles Based on the Adaptive Spiral Sliding Mode |
| title_full | Trajectory Tracking Control of Intelligent Electric Vehicles Based on the Adaptive Spiral Sliding Mode |
| title_fullStr | Trajectory Tracking Control of Intelligent Electric Vehicles Based on the Adaptive Spiral Sliding Mode |
| title_full_unstemmed | Trajectory Tracking Control of Intelligent Electric Vehicles Based on the Adaptive Spiral Sliding Mode |
| title_short | Trajectory Tracking Control of Intelligent Electric Vehicles Based on the Adaptive Spiral Sliding Mode |
| title_sort | trajectory tracking control of intelligent electric vehicles based on the adaptive spiral sliding mode |
| topic | intelligent vehicle trajectory tracking vehicle stability sliding mode |
| url | https://www.mdpi.com/2076-3417/11/24/11739 |
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