TY - JOUR
T1 - A Sliding Mode Control Scheme for Steering Flexibility and Stability in All-wheel-steering Multi-axle Vehicles
AU - Xu, Tao
AU - Liu, Xiangxin
AU - Li, Zheng
AU - Feng, Bo
AU - Ji, Xuewu
AU - Wu, Fuwei
N1 - Publisher Copyright:
© 2023, ICROS, KIEE and Springer.
PY - 2023/6
Y1 - 2023/6
N2 - Multi-axle vehicles that have important roles in transport systems require high load-carrying capacity, steering performance, and stability. Thanks to the multiple steering characteristics, the dynamic performance of multi-axle vehicles can be greatly improved, which also brings great challenges for the design of their steering controller. Therefore, this paper proposes a steering control scheme for an all-wheel-steering multi-axle vehicle with the goal of optimizing low-speed steering flexibility and high-speed vehicle stability. With the dynamic analyses, the vehicle’s steady-state gains at different speeds are reshaped, which provide the closed-loop steering control system with good tracking performance. Correspondingly, a steering controller based on the sliding mode control approach is designed to control the steering angle of each wheel at different axles. The super-twisting control algorithm is also combined with a model-based observer to deal with disturbance while eliminating chattering effects of the control system. Simulation results based on a co-simulation platform verify the efficiency and disturbance rejection of the proposed control approach.
AB - Multi-axle vehicles that have important roles in transport systems require high load-carrying capacity, steering performance, and stability. Thanks to the multiple steering characteristics, the dynamic performance of multi-axle vehicles can be greatly improved, which also brings great challenges for the design of their steering controller. Therefore, this paper proposes a steering control scheme for an all-wheel-steering multi-axle vehicle with the goal of optimizing low-speed steering flexibility and high-speed vehicle stability. With the dynamic analyses, the vehicle’s steady-state gains at different speeds are reshaped, which provide the closed-loop steering control system with good tracking performance. Correspondingly, a steering controller based on the sliding mode control approach is designed to control the steering angle of each wheel at different axles. The super-twisting control algorithm is also combined with a model-based observer to deal with disturbance while eliminating chattering effects of the control system. Simulation results based on a co-simulation platform verify the efficiency and disturbance rejection of the proposed control approach.
KW - Multi-axle vehicle
KW - sliding mode control (SMC)
KW - steering performance
KW - super twisting control (STC)
UR - http://www.scopus.com/inward/record.url?scp=85152932473&partnerID=8YFLogxK
U2 - 10.1007/s12555-021-0742-4
DO - 10.1007/s12555-021-0742-4
M3 - Article
AN - SCOPUS:85152932473
SN - 1598-6446
VL - 21
SP - 1926
EP - 1938
JO - International Journal of Control, Automation and Systems
JF - International Journal of Control, Automation and Systems
IS - 6
ER -