Faculty Publications

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Author: search.filters.author.Chiliveri, V.R.Subject: search.filters.subject.Lateral motion

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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.