A Finite-Time Speed and Direction Control for Four-Wheel Drive System
DOI:
https://doi.org/10.25079/ukhjse.v5n2y2021.pp47-55Keywords:
Finite-Time Controller, FTC, Four-Wheel Drive System, FWDS, Speed and Direction ControlAbstract
With the rapid use of the Four-Wheel Drive System (FWDS) worldwide, the necessity of having an adequate control system to control speed and direction in FWDS is extremely required. For this purpose, several control schemes are available in the literature to control the speed and direction in FWDS which should be fast convergence of the control, continuous control performance, and solving external disturbances. In latest years, finite-time controllers (FTC) have gained more consideration from many researchers in the control area, who have expressed applications in several procedures and systems. This research provides a major review of the FTC approaches via both input and output feedbacks for controlling FWDS.
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References
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Kamenkov, G. (1953). Stability of motion over a finite interval of time. Journal of Applied Math. and Mechanics, 17(2), 529–540.
Kortylewski, A., Liu, Q., Wang, A., Sun, Y., & Yuille, A. (2021). Compositional Convolutional Neural Networks: A Robust and Interpretable Model for Object Recognition Under Occlusion. International Journal of Computer Vision, 129(3), 736–760. https://doi.org/10.1007/s11263-020-01401-3
Kraft, S., Causse, J., & Martinez, A. (2019). Black-box modelling of nonlinear railway vehicle dynamics for track geometry assessment using neural networks. Vehicle System Dynamics, 57(9), 1241–1270. https://doi.org/10.1080/00423114.2018.1497186
Li, H., Shi, P., & Yao, D. (2017). Adaptive Sliding-Mode Control of Markov Jump Nonlinear Systems with Actuator Faults. IEEE Transactions on Automatic Control, 62(4), 1933–1939. https://doi.org/10.1109/TAC.2016.2588885
Liang, Q., Yang, Q., Meng, W., & Li, Y. (2021). Adaptive finite‐time control for turbo‐generator of power systems with prescribed performance. Asian Journal of Control, February, 1–12. https://doi.org/10.1002/asjc.2553
Lin, X., Yang, Z., & Li, S. (2019). Finite-time boundedness and finite-time weighted L2-gain analysis for a class of neutral type switched systems with time-varying delays. International Journal of Systems Science, 50(9), 1703–1717. https://doi.org/10.1080/00207721.2019.1622816
Mastellone, S., Dorato, P., & Abdallah, C. T. (2006). Finite-time stability for nonlinear networked control systems. Systems and Control: Foundations and Applications, 9780817643836, 535–553. https://doi.org/10.1007/0-8176-4470-9_29
Mei, K., Ma, L., He, R., & Ding, S. (2020). Finite-time controller design of multiple integrator nonlinear systems with input saturation. Applied Mathematics and Computation, 372. https://doi.org/10.1016/j.amc.2019.124986
Meng, Q., Qian, C., & Sun, Z. Y. (2019). Finite-time stability control of an electric vehicle under tyre blowout. Transactions of the Institute of Measurement and Control, 41(5), 1395–1404. https://doi.org/10.1177/0142331218780967
Meng, Q., Sun, Z. Y., & Li, Y. (2018). Finite-time Controller Design for Four-wheel-steering of Electric Vehicle Driven by Four In-wheel Motors. International Journal of Control, Automation and Systems, 16(4), 1814–1823. https://doi.org/10.1007/s12555-017-0509-0
Meng, Q., Zhao, X., Hu, C., & Sun, Z. Y. (2021). High velocity lane keeping control method based on the non-smooth finite-time control for electric vehicle driven by four wheels independently. Electronics (Switzerland), 10(6). https://doi.org/10.3390/electronics10060760
Nguyen, V. T., Yang, C., Du, C., & Liao, L. (2019). Design and implementation of finite time sliding mode controller for fuzzy overhead crane system. ISA Transactions. https://doi.org/10.1016/j.isatra.2019.11.037
Osiris, O., Villegas, V., Nandayapa, M., & Soto, I. (2018). Advanced topics on computer vision, control and robotics in mechatronics. In Advanced Topics on Computer Vision, Control and Robotics in Mechatronics. Springer Verlag. https://doi.org/10.1007/978-3-319-77770-2
Shao, K., Zheng, J., Huang, K., Wang, H., Man, Z., & Fu, M. (2020). Finite-Time Control of a Linear Motor Positioner Using Adaptive Recursive Terminal Sliding Mode. IEEE Transactions on Industrial Electronics, 67(8), 6659–6668. https://doi.org/10.1109/TIE.2019.2937062
Shuai, Z., Zhang, H., Wang, J., Li, J., & Ouyang, M. (2014). Lateral motion control for four-wheel-independent-drive electric vehicles using optimal torque allocation and dynamic message priority scheduling. Control Engineering Practice, 24(1), 55–66. https://doi.org/10.1016/j.conengprac.2013.11.012
Sun, Z. Y., Yun, M. M., & Li, T. (2017). A new approach to fast global finite-time stabilization of high-order nonlinear system. Automatica, 81, 455–463. https://doi.org/10.1016/j.automatica.2017.04.024
Tao, J., Zhang, T., & Liu, Q. (2021). Novel finite-time adaptive neural control of flexible spacecraft with actuator constraints and prescribed attitude tracking performance. Acta Astronautica, 179, 646–658. https://doi.org/10.1016/j.actaastro.2020.10.010
Tu, J. V. (1996). Advantages and disadvantages of using artificial neural networks versus logistic regression for predicting medical outcomes. Journal of Clinical Epidemiology, 49(11), 1225–1231. https://doi.org/10.1016/S0895-4356(96)00002-9
Wang, F., Liu, Z., Zhang, Y., & Chen, C. L. P. (2019). Adaptive finite-time control of stochastic nonlinear systems with actuator failures. Fuzzy Sets and Systems, 374, 170–183. https://doi.org/10.1016/j.fss.2018.12.005
Wang, J. (2020). Application of pid algorithm in drive fault-tolerant control of four-wheel drive electric vehicle. International Journal of Mechatronics and Applied Mechanics, 1(8). https://doi.org/10.17683/ijomam/issue8.29
Wang, Rongrong, Hu, C., Wang, Z., Yan, F., & Chen, N. (2015). Integrated optimal dynamics control of 4WD4WS electric ground vehicle with tire-road frictional coefficient estimation. Mechanical Systems and Signal Processing, 60, 727–741. https://doi.org/10.1016/j.ymssp.2014.12.026
Wang, Runhua, Zhang, X., & Fang, Y. (2021). Visual tracking of mobile robots with both velocity and acceleration saturation constraints. Mechanical Systems and Signal Processing, 150, 107274. https://doi.org/10.1016/j.ymssp.2020.107274
Weiss, L., & Infante, E. F. (1965). on the Stability of Systems Defined Over a Finite Time Interval. Proceedings of the National Academy of Sciences, 54(1), 44–48. https://doi.org/10.1073/pnas.54.1.44
WEISS, L., & INFANTE, E. F. (1967). Finite Time Stability Under Perturbing Forces and on Product Spaces. IEEE Transactions on Automatic Control, AC-12(1), 54–59. https://doi.org/10.1109/TAC.1967.1098483
Wu, S. H. (1969). Stability of discrete systems over a finite interval of time. International Journal of Control, 9(6), 679–693. https://doi.org/10.1080/00207176908905789
Xin, X., Zhang, W., Shen, C., & Zheng, H. (2017). Control strategy of four-wheel independent drive electric vehicle based on vehicle velocity estimation and switchover. Transactions of the Institute of Measurement and Control, 39(7), 965–975. https://doi.org/10.1177/0142331215625767
Zheng, W., Wang, H., Sun, F., Li, X., & Wen, S. (2019). Finite-time control of mobile robot systems with unmeasurable angular and linear velocities via bioinspired neurodynamics approach. Applied Soft Computing Journal, 85. https://doi.org/10.1016/j.asoc.2019.105753
Zhou, H., Jia, F., Jing, H., Liu, Z., & Güvenç, L. (2018). Coordinated Longitudinal and Lateral Motion Control for Four Wheel Independent Motor-Drive Electric Vehicle. IEEE Transactions on Vehicular Technology, 67(5), 3782–3790. https://doi.org/10.1109/TVT.2018.2816936
Amato, F., Ariola, M., Abdallah, C. T., & Dorato, P. (2015). Dynamic output feedback finite-time control of LTI systems subject to parametric uncertainties and disturbances. European Control Conference, ECC 1999 - Conference Proceedings, 37, 2596–2601. https://doi.org/10.23919/ecc.1999.7099716
Amato, F. C. D. (2003). Necessary and Sufficient Conditions for. Integration The Vlsi Journal, 174, 544–548.
Amato, Francesco, Ariola, M., Carbone, M., & Cosentino, C. (2006). Finite-time control of linear systems: A survey. Systems and Control: Foundations and Applications, 9780817643836, 195–213. https://doi.org/10.1007/0-8176-4470-9_11
Ariff, M. H. M., Zamzuri, H., Nordin, M. A. M., Yahya, W. J., Mazlan, S. A., & Rahman, M. A. A. (2015). Optimal control strategy for low speed and high speed four-wheel-active steering vehicle. Journal of Mechanical Engineering and Sciences, 8(June), 1516–1528. https://doi.org/10.15282/jmes.8.2015.26.0148
Chen, J., Su, J., & Li, J. (2020). Self-Coupling Black Box Model of a Dynamic System Based on ANN and Its Application. Mathematical Problems in Engineering, 2020. https://doi.org/10.1155/2020/5724831
Ding, S., & Sun, J. (2017). Direct yaw-moment control for 4WID electric vehicle via finite-time control technique. Nonlinear Dynamics, 88(1), 239–254. https://doi.org/10.1007/s11071-016-3240-0
Dorato, P., Abdallah, C. T., & Famularo, D. (1997). Robust finite-time stability design via linear matrix inequalities. Proceedings of the IEEE Conference on Decision and Control, 2(December), 1305–1306. https://doi.org/10.1109/cdc.1997.657637
Du, H., Wen, G., Cheng, Y., & Lu, J. (2021). Design and Implementation of Bounded Finite-Time Control Algorithm for Speed Regulation of Permanent Magnet Synchronous Motor. IEEE Transactions on Industrial Electronics, 68(3), 2417–2426. https://doi.org/10.1109/TIE.2020.2973904
Fang, L., Ma, L., Ding, S., & Zhao, D. (2019). Finite-time stabilization for a class of high-order stochastic nonlinear systems with an output constraint. Applied Mathematics and Computation, 358, 63–79. https://doi.org/10.1016/j.amc.2019.03.067
Ginoya, D., Shendge, P. D., & Phadke, S. B. (2014). Sliding mode control for mismatched uncertain systems using an extended disturbance observer. IEEE Transactions on Industrial Electronics, 61(4), 1983–1992. https://doi.org/10.1109/TIE.2013.2271597
González-García, J., Narcizo-Nuci, N. A., García-Valdovinos, L. G., Salgado-Jiménez, T., Gómez-Espinosa, A., Cuan-Urquizo, E., & Cabello, J. A. E. (2021). Model-free high order sliding mode control with finite-time tracking for unmanned underwater vehicles. Applied Sciences (Switzerland), 11(4), 1–22. https://doi.org/10.3390/app11041836
Hu, H., Wang, X., & Chen, L. (2020). Impedance with Finite-Time Control Scheme for Robot-Environment Interaction. Mathematical Problems in Engineering, 2020. https://doi.org/10.1155/2020/2796590
Jeong, J. H., Lee, D. H., Kim, M., Park, W. H., Byun, G. S., & Oh, S. W. (2017). The study of the electromagnetic robot with a four-wheel drive and applied I-PID system. Journal of Electrical Engineering and Technology, 12(4), 1634–1640. https://doi.org/10.5370/JEET.2017.12.4.1634
Kamenkov, G. (1953). Stability of motion over a finite interval of time. Journal of Applied Math. and Mechanics, 17(2), 529–540.
Kortylewski, A., Liu, Q., Wang, A., Sun, Y., & Yuille, A. (2021). Compositional Convolutional Neural Networks: A Robust and Interpretable Model for Object Recognition Under Occlusion. International Journal of Computer Vision, 129(3), 736–760. https://doi.org/10.1007/s11263-020-01401-3
Kraft, S., Causse, J., & Martinez, A. (2019). Black-box modelling of nonlinear railway vehicle dynamics for track geometry assessment using neural networks. Vehicle System Dynamics, 57(9), 1241–1270. https://doi.org/10.1080/00423114.2018.1497186
Li, H., Shi, P., & Yao, D. (2017). Adaptive Sliding-Mode Control of Markov Jump Nonlinear Systems with Actuator Faults. IEEE Transactions on Automatic Control, 62(4), 1933–1939. https://doi.org/10.1109/TAC.2016.2588885
Liang, Q., Yang, Q., Meng, W., & Li, Y. (2021). Adaptive finite‐time control for turbo‐generator of power systems with prescribed performance. Asian Journal of Control, February, 1–12. https://doi.org/10.1002/asjc.2553
Lin, X., Yang, Z., & Li, S. (2019). Finite-time boundedness and finite-time weighted L2-gain analysis for a class of neutral type switched systems with time-varying delays. International Journal of Systems Science, 50(9), 1703–1717. https://doi.org/10.1080/00207721.2019.1622816
Mastellone, S., Dorato, P., & Abdallah, C. T. (2006). Finite-time stability for nonlinear networked control systems. Systems and Control: Foundations and Applications, 9780817643836, 535–553. https://doi.org/10.1007/0-8176-4470-9_29
Mei, K., Ma, L., He, R., & Ding, S. (2020). Finite-time controller design of multiple integrator nonlinear systems with input saturation. Applied Mathematics and Computation, 372. https://doi.org/10.1016/j.amc.2019.124986
Meng, Q., Qian, C., & Sun, Z. Y. (2019). Finite-time stability control of an electric vehicle under tyre blowout. Transactions of the Institute of Measurement and Control, 41(5), 1395–1404. https://doi.org/10.1177/0142331218780967
Meng, Q., Sun, Z. Y., & Li, Y. (2018). Finite-time Controller Design for Four-wheel-steering of Electric Vehicle Driven by Four In-wheel Motors. International Journal of Control, Automation and Systems, 16(4), 1814–1823. https://doi.org/10.1007/s12555-017-0509-0
Meng, Q., Zhao, X., Hu, C., & Sun, Z. Y. (2021). High velocity lane keeping control method based on the non-smooth finite-time control for electric vehicle driven by four wheels independently. Electronics (Switzerland), 10(6). https://doi.org/10.3390/electronics10060760
Nguyen, V. T., Yang, C., Du, C., & Liao, L. (2019). Design and implementation of finite time sliding mode controller for fuzzy overhead crane system. ISA Transactions. https://doi.org/10.1016/j.isatra.2019.11.037
Osiris, O., Villegas, V., Nandayapa, M., & Soto, I. (2018). Advanced topics on computer vision, control and robotics in mechatronics. In Advanced Topics on Computer Vision, Control and Robotics in Mechatronics. Springer Verlag. https://doi.org/10.1007/978-3-319-77770-2
Shao, K., Zheng, J., Huang, K., Wang, H., Man, Z., & Fu, M. (2020). Finite-Time Control of a Linear Motor Positioner Using Adaptive Recursive Terminal Sliding Mode. IEEE Transactions on Industrial Electronics, 67(8), 6659–6668. https://doi.org/10.1109/TIE.2019.2937062
Shuai, Z., Zhang, H., Wang, J., Li, J., & Ouyang, M. (2014). Lateral motion control for four-wheel-independent-drive electric vehicles using optimal torque allocation and dynamic message priority scheduling. Control Engineering Practice, 24(1), 55–66. https://doi.org/10.1016/j.conengprac.2013.11.012
Sun, Z. Y., Yun, M. M., & Li, T. (2017). A new approach to fast global finite-time stabilization of high-order nonlinear system. Automatica, 81, 455–463. https://doi.org/10.1016/j.automatica.2017.04.024
Tao, J., Zhang, T., & Liu, Q. (2021). Novel finite-time adaptive neural control of flexible spacecraft with actuator constraints and prescribed attitude tracking performance. Acta Astronautica, 179, 646–658. https://doi.org/10.1016/j.actaastro.2020.10.010
Tu, J. V. (1996). Advantages and disadvantages of using artificial neural networks versus logistic regression for predicting medical outcomes. Journal of Clinical Epidemiology, 49(11), 1225–1231. https://doi.org/10.1016/S0895-4356(96)00002-9
Wang, F., Liu, Z., Zhang, Y., & Chen, C. L. P. (2019). Adaptive finite-time control of stochastic nonlinear systems with actuator failures. Fuzzy Sets and Systems, 374, 170–183. https://doi.org/10.1016/j.fss.2018.12.005
Wang, J. (2020). Application of pid algorithm in drive fault-tolerant control of four-wheel drive electric vehicle. International Journal of Mechatronics and Applied Mechanics, 1(8). https://doi.org/10.17683/ijomam/issue8.29
Wang, Rongrong, Hu, C., Wang, Z., Yan, F., & Chen, N. (2015). Integrated optimal dynamics control of 4WD4WS electric ground vehicle with tire-road frictional coefficient estimation. Mechanical Systems and Signal Processing, 60, 727–741. https://doi.org/10.1016/j.ymssp.2014.12.026
Wang, Runhua, Zhang, X., & Fang, Y. (2021). Visual tracking of mobile robots with both velocity and acceleration saturation constraints. Mechanical Systems and Signal Processing, 150, 107274. https://doi.org/10.1016/j.ymssp.2020.107274
Weiss, L., & Infante, E. F. (1965). on the Stability of Systems Defined Over a Finite Time Interval. Proceedings of the National Academy of Sciences, 54(1), 44–48. https://doi.org/10.1073/pnas.54.1.44
WEISS, L., & INFANTE, E. F. (1967). Finite Time Stability Under Perturbing Forces and on Product Spaces. IEEE Transactions on Automatic Control, AC-12(1), 54–59. https://doi.org/10.1109/TAC.1967.1098483
Wu, S. H. (1969). Stability of discrete systems over a finite interval of time. International Journal of Control, 9(6), 679–693. https://doi.org/10.1080/00207176908905789
Xin, X., Zhang, W., Shen, C., & Zheng, H. (2017). Control strategy of four-wheel independent drive electric vehicle based on vehicle velocity estimation and switchover. Transactions of the Institute of Measurement and Control, 39(7), 965–975. https://doi.org/10.1177/0142331215625767
Zheng, W., Wang, H., Sun, F., Li, X., & Wen, S. (2019). Finite-time control of mobile robot systems with unmeasurable angular and linear velocities via bioinspired neurodynamics approach. Applied Soft Computing Journal, 85. https://doi.org/10.1016/j.asoc.2019.105753
Zhou, H., Jia, F., Jing, H., Liu, Z., & Güvenç, L. (2018). Coordinated Longitudinal and Lateral Motion Control for Four Wheel Independent Motor-Drive Electric Vehicle. IEEE Transactions on Vehicular Technology, 67(5), 3782–3790. https://doi.org/10.1109/TVT.2018.2816936
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2021-12-28
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How to Cite
A Finite-Time Speed and Direction Control for Four-Wheel Drive System. (2021). UKH Journal of Science and Engineering, 5(2), 47-55. https://doi.org/10.25079/ukhjse.v5n2y2021.pp47-55
UKH Journal of Science and Engineering (UKHJSE); No article submission/processing charge (ASC/APC).