During skid braking and spin acceleration, the driving force exerted by tires is reduced considerably, vehicle cannot speed up or brake as desired. It may become very difficult to control under these conditions. To solve this problem, a second-order sliding-mode traction controller presented in paper. The design coupled with of suitable observer estimate tire-road adhesion coefficient. achieved maintaining wheel slip at desired value. In particular, controlling optimal value, proposed...

The problem of vehicle yaw control is addressed in this paper using an active differential and rate feedback. A reference generator, designed to improve handling, provides the desired value be achieved by closed loop controller. latter second-order sliding mode (SOSM) methodology guarantee robust stability front disturbances model uncertainties, which are typical automotive context. feedforward contribution also employed enhance transient system response. derivative constructed as a...

In this paper, the problem of vehicle yaw control using a rear active differential is investigated. The proposed structure employs reference generator designed to improve handling, feedforward contribution that enhances transient system response, and feedback controller. Due uncertainties wide range operating situations, which are typical automotive context, robust technique needed guarantee stability. Two different controllers, based on internal model sliding mode methodologies,...

This paper addresses the analysis and design of a safety-oriented traction control system for ride-by-wire sport motorcycles based on second-order sliding mode methodology. The controller is nonlinear dynamical model rear wheel slip, modeling phase validated against experimental data measured an instrumented vehicle. To comply with practical applicability constraints, position electronic throttle body used as variable effect actuator dynamics thoroughly analyzed. After discussion interplay...

The problem of stabilizing a class nonholonomic systems in chained form affected by both matched and unmatched uncertainties is addressed this article. proposed design methodology based on discontinuous transformation the perturbed system to which an adaptive multiple-surface sliding mode technique applied. generation allows eliminate effect uncertainties, while suitable function approximation enables deal with residual are unmatched. control solved choosing particular manifold upon...

Abstract The problem of controlling a class nonholonomic systems affected by uncertainties is addressed in this paper. idea to apply the so‐called second‐order sliding mode control methodology. crucial point necessity reformulating system model so as make uncertain terms appear matched form. To end, suitable change coordinates performed and peculiar manifold designed upon which enforced. Apart from robustness features, typical approach, proposed law has advantage being continuous, thus more...

This paper presents the design of a longitudinal control system for platoon vehicles. The synthesis an automatic vehicle following is important aspect automated highway design. main objectives vehicles are increment exploitation road capacity and improvement passengers' safety comfort. proposed designed relying on non-linear model. chosen methodology second-order sliding mode control. choice motivated by well-known robustness features approach, which particularly appropriate dealing with...

In the short term future, cybernetic transport systems (CTS), based on fully automated urban vehicles (the so-called Cybercars), will be seen city roads and new dedicated infrastructures. The objective of Cybercars is to achieve a more effective organization transport, resulting in rational use motorized traffic, with less congestion pollution safer driving. One necessary functionality ability cooperate run platoon at close range. Platooning these automatic guided cars addressed this paper,...

During skid-braking and spin-acceleration, the driving force exerted by tires reduces considerably vehicle cannot speed up or brake as desired. It may become very difficult to control under these conditions. To solve this problem, a second order sliding mode traction controller for road vehicles is presented in paper. The achieved maintaining wheels slip at optimal value. In way, enables anti-skid braking anti^spin acceleration, thus improving safety weather conditions, well stability during...

Recent research has demonstrated that longitudinal control strategies are useful in highway systems to regulate the spacing and velocity of vehicles. In this paper, a robust system for platoons vehicles is designed. The proposed scheme composed two different loops: outer loop determine traction force necessary maintain safety distance between controlled vehicle preceding vehicle, while inner aimed at producing desired force, calculated by loop, controlling slip ratio. unknown time-varying...

A traction force controller for passenger cars is presented in this paper to solve, particular, the problem of guaranteeing satisfaction fastest stable acceleration/deceleration conditions during vehicle operations. This is, instance, an important subtask design Intelligent vehicles/highways systems (IVHS), but it can be considered crucial also any kind modern medium high-performance commercial cars. Due system uncertainties, time-varying road conditions, and wide range operating which are...

Longitudinal wheel slip control is a crucial problem in automotive systems, as it the basis for traction, braking and stability control. As dynamics are critically dependent on vehicle speed, interesting to devise an adaptation of controller parameters with respect this variable. To achieve this, present paper proposes novel switched second order sliding mode (S-SOSM) strategy, which allows enhance closed-loop performance tune current working condition.

This paper focuses on the control of a team agents designated either as leaders or followers and exchanging information over directed communication network. The goal is to drive each follower target position that depends its neighbors. To this purpose, we propose decentralized scheme based sliding-mode techniques study error propagation within network using notion Input-to-State Stability (ISS). In particular, derive sufficient conditions parameters for guaranteeing dynamics ISS with respect...

During recent years, a number of studies has demonstrated the efficaciousness longitudinal control platoon vehicles in order to improve exploitation capacity road networks while maintaining safety distances between vehicles. Yet, use cruise urban areas can be critical because possible presence pedestrians or other vulnerable users (VRUs). The objective increasing pedestrians' attained by providing system with some collision avoidance capability. This issue is investigated present paper....

Longitudinal control of platoons vehicles is appropriate to improve the traffic capacity road networks while maintaining safety distances between vehicles. This paper investigate possibility reducing number accidents involving pedestrians or other vulnerable users, like cyclists and motorcyclists, by providing systems platoon with some collision detection avoidance capability. The driver assistance system realized means vehicle supervisors, which, on basis data acquired sensors, make...

The paper addresses the analysis and design of a safety-oriented traction control system for ride-by-wire sport motorcycles via second order sliding mode (SOSM) techniques. controller is based on nonlinear dynamical model rear wheel slip, modeling phase validated against experimental data measured an instrumented vehicle. To comply with practical applicability constraints, position electronic throttle body used as variable effect actuator dynamics thoroughly analyzed. After discussion...

The problem of controlling a class nonholonomic systems affected by uncertainties is addressed in this paper. idea to apply the so-called second order sliding mode control methodology. crucial point necessity reformulating system model so as make uncertain terms appear matched form. To end, suitable change coordinates performed and peculiar manifold designed upon which enforced. Apart from robustness features, typical approach, proposed law has advantage being continuous, thus more...

In this paper, an adaptive sliding mode control scheme capable of solving the problem stabilizing a class nonholonomic systems in chained form with unknown direction affected by uncertain nonlinear drift term and parametric uncertainties is proposed. The crucial point necessity reformulating system model so as to make terms appear matched form. transformation proposed paper based on discontinuous state scaling backstepping transformation. Then, relying new states, it possible design...

In this paper the problem of vehicle yaw control using a rear active differential is investigated. Due to system uncertainties, time-varying road conditions, and wide range operating which are typical automotive context, robust technique required solve problem. paper, two different schemes, based on enhanced internal model second order sliding mode control, respectively, designed their performances compared in simulation. improve transient behaviour proposed schemes feedforward contribution...