Vehicular Slip Ratio Control Using Nonlinear Control Theory

• IKEDA Yuichi

  Shinshu University

• NAKAJIMA Takashi

  Shinshu University

• CHIDA Yuichi

  Shinshu University

抄録

In this paper, we discuss integrated vehicle slip ratio control under both deceleration and acceleration without the need for controller switching, and also propose a design method for such an integrated slip ratio controller based on the slip ratio dynamics. When a vehicle switches from acceleration to deceleration and vice versa, the slip ratio varies discontinuously. Here, the slip ratio is approximated to a continuous function by using a sigmoid function. And a controller is then designed by using feedback linearization based on the approximated slip ratio. The stability of the designed control system is proven by Lyapunov stability theorem. Furthermore, we propose a robust control method based on a disturbance observer and sliding mode control theory. Finally, the effectiveness of the proposed control method is verified through numerical simulation.

収録刊行物

• Journal of System Design and Dynamics

  Journal of System Design and Dynamics 6 (2), 145-157, 2012

  一般社団法人 日本機械学会

キーワード

• Vehicle
• Slip Ratio
• Feedback Linearization
• Disturbance Observer
• Sliding Mode Control

詳細情報

• CRID: 1390282680249976576
• NII論文ID: 130002100317
• DOI: 10.1299/jsdd.6.145
• BIBCODE: 2012JSDD....6..145I
• ISSN: 18813046
• Web Site: https://www.jstage.jst.go.jp/article/jsdd/6/2/6_2_145/_pdf
• 本文言語コード: en
• データソース種別:
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  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可