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Autonomous Vehicle Platooning and Motion Control Read chapter Read first chapter

2021 | OriginalPaper | Chapter

A Decentralized Multilayer Sliding Mode Control Architecture for Vehicle’s Global Chassis Control, and Comparison with a Centralized Architecture

Authors : Ali Hamdan, Abbas Chokor, Reine Talj, Moustapha Doumiati

Published in: Proceedings of the 2nd International Conference on Electronic Engineering and Renewable Energy Systems

Publisher: Springer Singapore

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Abstract

This paper presents a decentralized Global Chassis Control (GCC) architecture. The objective of this global chassis controller is to improve the overall vehicle performance i.e maneuverability, lateral stability and rollover avoidance, by coordinating the Active Front steering, Direct Yaw Control and Active Suspensions in a decentralized architecture. The developed architecture is multilayer, and based on higher order sliding-mode control, the super-twisting algorithm. The proposed GCC is validated by simulation using Matlab/Simulink, and a comparison is done with a centralized \(LPV/\mathscr {H}_\infty \) architecture that has been developed in the laboratory, to show the difference in behavior and performance of both strategies of control.

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previous chapter Design of Fractional Order Sliding Mode Controller for Lateral Dynamics of Electric Vehicles
next chapter Energy Management Strategy Based on a Combination of Frequency Separation and Fuzzy Logic for Fuel Cell Hybrid Electric Vehicles
Footnotes
1
“SCANeR Studio” is a simulator dedicated to vehicle dynamics simulations.
 
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Chokor A, Doumiati M, Talj R, Charara A (2019) Design of a new gain-scheduled lpv/\(h_{\infty }\) controller for vehicle’s global chassis control. In: 58th conference on decision and control (CDC)
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Chokor A, Talj R, Charara A, Doumiati M, Rabhi, A (2017) Rollover prevention using active suspension system. In: 20th international conference on intelligent transportation systems (ITSC), pp 1706–1711. IEEE
Metadata
Title
A Decentralized Multilayer Sliding Mode Control Architecture for Vehicle’s Global Chassis Control, and Comparison with a Centralized Architecture
Authors
Ali Hamdan
Abbas Chokor
Reine Talj
Moustapha Doumiati
Copyright Year
2021
Publisher
Springer Singapore
Book
Proceedings of the 2nd International Conference on Electronic Engineering and Renewable Energy Systems

Print ISBN: 978-981-15-6258-7

Electronic ISBN: 978-981-15-6259-4

Copyright Year: 2021

DOI
https://doi.org/10.1007/978-981-15-6259-4_61