Faculty Publications

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Author: search.filters.author.Chiliveri, V.R.Has files: No

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    Electric energy sources and storage device
    (Institution of Engineering and Technology, 2024) Kalpana, R.; Manjunath, K.; Chiliveri, V.R.; Kiran, R.
    [No abstract available]
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    Predictor Based Stability Control of Four-Wheel Independent Drive Electric Vehicle with Bounded Input Delay
    (Institute of Electrical and Electronics Engineers Inc., 2022) Chiliveri, V.R.; Kalpana, R.; Lakshmanan, P.
    The stability of a four-wheel independent drive electric vehicle (4WID-EV) is a significant concern to prevent accidents and maintain driver safety. In this paper, the proposed controller design guarantees the stability of 4WID-EV and tracks the desired reference trajectory despite bounded input delay. Using the finite spectrum assignment (FSA) technique, the predictor is designed to tackle input time delay and a hierarchical control structure. Hierarchical control structure assures that the vehicle tracks the desired reference path and optimally allocates the required longitudinal force to each wheel to generate yaw moment. The closed-loop stability of 4WID-EV has been proved theoretically by choosing the appropriate Lyapunov function. To validate the effectiveness of the proposed method, numerical simulation has been performed in Matlab/Simulink and the results demonstrate the better tracking performance. © 2022 IEEE
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    Composite Control Design for In-Wheel Drive Electric Vehicle with Unknown Disturbances and Input Delay
    (Institute of Electrical and Electronics Engineers Inc., 2022) Chiliveri, V.R.; Kalpana, R.; Kishan, D.
    This paper focuses on lateral motion stability con-trol of an in-wheel drive electric vehicle while accounting for un-known external disturbances and input time delay. A predictive sliding mode control using super twisting techniques is designed to mitigate the consequences of input time delay, tracking inac-curacy, and chattering phenomenon. Further, to degrade the lumped disturbances, a disturbance observer (DOB) is empha-sized to estimate unknown disturbances and facilitate feedfor-ward compensation for control. Then, a composite control structure combining predictive super-twisting sliding mode control (STSMC) and DOB is proposed to realize precise tracking uti-lizing appropriate disturbance estimation. To prove the closed-loop stability, a Lyapunov function-based analysis is performed. Simulation is carried out in MATLAB/Simulink to validate the proposed control, and two critical maneuvers are presented to demonstrate its effectiveness. © 2022 IEEE.
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    A Modified Reaching Law Based Sliding Mode Controller with an Antidisturbance Approach for Speed Control of PMSM System
    (Institute of Electrical and Electronics Engineers Inc., 2023) Chiliveri, V.R.; Kalpana, R.; Kishan, D.
    This paper develops a robust non-linear control system that employs the sliding mode control (SMC) technique to enhance the speed regulation performance of the permanent-magnet-synchronous-motor (PMSM) in the existence of parameter mismatch and external load disturbances. Initially, the modified reaching law-based SMC (MRL-SMC) method is proposed. This MRL-SMC incorporates an exponential sliding surface function and system tracking error to enable adaptive changes in the reaching law during two distinct SMC phases. As a result, this method mitigates the inherent chattering generated in the control input and accelerates the reaching speed of the system states towards the sliding manifold. Moreover, due to high switching gain requirement to suppress the effect of lumped disturbances give rise to large chattering. Therefore, an antidisturbance approach is proposed in composite to MRL-SMC. This method consists of a finite-time disturbance observer for estimating the lumped disturbance and initiate a feedforward compensation of the estimated disturbance to the MRL-SMC. Additionally, the simulation results demonstrate that the proposed speed control technique is more effective compared to conventional SMC. © 2023 IEEE.
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    Integrated Speed and Current Control with Adaptive Sliding Mode Based Deadbeat Predictive Strategy Considering Uncertainties for In-Wheel PMSMs
    (Institute of Electrical and Electronics Engineers Inc., 2024) Chiliveri, V.R.; Kalpana, R.; Kishan, D.
    In this paper, an adaptive sliding mode control (ASMC) combined with deadbeat predictive current control (DPCC) is developed to enhance current tracking precision and improve speed robustness in in-wheel permanent magnet synchronous motor (PMSM), particularly under uncertainties such as parameter mismatches and external disturbances. These uncertainties are modeled as lumped disturbances within the PMSM drive system. First, the ASMC is developed to enhance speed tracking, while the adaptive reaching law is employed to mitigate chattering and expedite the rise time, ensuring fast convergence to the desired speed. Next, the DPCC is applied to further improve current regulation performance. Additionally, disturbance observer is designed to estimate the lumped disturbances and provide compensation in the speed and current control loop, thereby improving the drive performance robustness. The effectiveness of the proposed ASMC-DPCC method is demonstrated through simulations on in-wheel PMSM motors, showing improved tracking accuracy and disturbance rejection. © 2024 IEEE.
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    Sliding Mode Predictive Control for Enhanced Lateral Motion Stability in Independent Drive Electric Vehicle With Input Delay and Disturbance Compensation
    (Institute of Electrical and Electronics Engineers Inc., 2024) Chiliveri, V.R.; Kalpana, R.; Kishan, D.
    This paper focuses on enhancing lateral motion stability in an independent drive electric vehicle (IDEV) under various uncertainties such as parameter variations, external disturbances, and input time delay. Initially, a new mathematical model for the IDEV is developed, accounting for these uncertainties. Further, a sliding mode predictive control (SMPC) utilizing an adaptive reaching law (ARL) is designed to alleviate the chattering effects, expedite reaching time and mitigate the impact of input time delay. Additionally, two virtual control signals are generated to improve tracking accuracy. An optimal control allocation technique is then introduced to map virtual control signals to actual control inputs. To further enhance control robustness and path-tracking accuracy, disturbance observer and delay estimator are designed to accurately estimate unknown disturbances and input time delay, with feedback incorporated into the SMPC. Simulation and hardware-in-the-loop (HIL) experiments are performed for two specific driving maneuvers and the results demonstrate the effectiveness of the proposed ARL-SMPC design. © 2013 IEEE.
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    Novel reaching law based predictive sliding mode control for lateral motion control of in-wheel motor drive electric vehicle with delay estimation
    (John Wiley and Sons Inc, 2024) Chiliveri, V.R.; Kalpana, R.; Subramaniam, U.; Muhibbullah, M.; Padmavathi, L.
    The lateral motion control of an in-wheel motor drive electric vehicle (IWMD-EV) necessitates an accurate measurement of the vehicle states. However, these measured states are always affected by delays due to sensor measurements, communication latencies, and computation time, which results in the degradation of the controller performance. Motivated by this issue, a novel reaching law based predictive sliding mode control (NRL-PSMC) is proposed to maintain the lateral motion control of the IWMD-EV subjected to unknown time delay. Initially, a PSMC framework is built, in which a predictor integrating with the sliding mode control is designed to eliminate the effect of time delay and generate the virtual control signals. Further, to alleviate the chattering phenomenon, a novel-reaching law is developed, enabling the vehicle to track the desired states effectively. Subsequently, a dynamic control allocation technique is presented to optimally allocate the virtual control input to the actual control input. The accurate estimation of the aforementioned unknown delay is realized through a delay estimator. Finally, simulation and hardware-in-the-loop experiments are performed for three specific driving manoeuvres, and the results demonstrate the effectiveness of the proposed controller design. © 2023 The Authors. IET Intelligent Transport Systems published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.