Faculty Publications

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Publications by NITK Faculty

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Subject: search.filters.subject.Disturbance observer

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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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    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.