WSEAS Transactions on Systems
Print ISSN: 1109-2777, E-ISSN: 2224-2678
Volume 11, 2012
Adaptive Longitudinal Friction Control based on Nonsingular and Fast Terminal Sliding Mode Method
Authors: , ,
Abstract: This paper focuses on longitudinal adaptive tyre longitudinal friction control by regulating desired slip ratio*λ in different road conditions. The longitudinal friction coefficient is modeled by the Magic Formula and its key parameters under different road surfaces are identified on-line using the proposed constrained hybrid genetic algorithm (GA). By means of this, for a specific desired tyre longitudinal friction, the corresponding control objective of slip ratio can be obtained via a numerical method. A nonsingular and fast terminal sliding mode (NFTSM) control method is then employed to track the desired slip ratio, as Longitudinal Slip ratio Control (LSC). Evidently, the above serial algorithms of parameter evaluation, optimization and control adapt to, or self-tune with, the variation of road surfaces. Simulation experiments support this conclusion, in which, the tyre friction was tracked precisely and rapidly and the requirement of adaptive road surface variation was satisfied.
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Keywords: Parameters identification, tyre friction control, constrained hybrid genetic algorithm, nonsingular and fast terminal sliding mode control