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"Control stability"
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Fixed-time dynamic control allocation for the distribution of braking forces in a vehicle ESC system
This paper proposes a design technique for vehicle lateral stability control. In this structure, reference variables are first determined based on the driver’s input. Using a fixed-time control technique, an upper controller, also known as virtual control, is designed to ensure vehicle stability for the desired yaw moment. Subsequently, optimal braking forces, also known as lower controls, are designed by virtual control and are utilized to generate the control inputs for the actuators. The optimal braking forces, which are constrained, are designed using a fixed-time dynamic control allocation method. This ensures their convergence to optimal values in a fixed time. Unlike static optimization methods, the proposed control allocation method introduces a dynamic update law. This approach not only reduces computational complexity but also guarantees the fixed-time convergence of braking forces to the optimal solution. The overall closed-loop stability in constant time is also achievable via the Lyapunov stability method. Simulations were conducted on a 10-DOF nonlinear dynamic vehicle model for standard test maneuvers of the electronic stability control system. The results indicate that the proposed method outperforms numerical optimization-based methods such as weighted least squares, weighted pseudoinverse, and asymptotic dynamic control allocation in terms of efficiency.
Journal Article
Mechanisms of MicroRNA Biogenesis and Stability Control in Plants
MicroRNAs (miRNAs), a class of endogenous, non-coding RNAs, which is 20–24 nucleotide long, regulate the expression of its target genes post-transcriptionally and play critical roles in plant normal growth, development, and biotic and abiotic stresses. In cells, miRNA biogenesis and stability control are important in regulating intracellular miRNA abundance. In addition, research on these two aspects has achieved fruitful results. In this review, we focus on the recent research progress in our understanding of miRNA biogenesis and their stability control in plants.
Journal Article
Intelligent Vehicle Lateral Control Method Based on Feedforward + Predictive LQR Algorithm
Aiming at the problems of control stability of the intelligent vehicle lateral control method, single test conditions, etc., a lateral control method with feedforward + predictive LQR is proposed, which can better adapt to the problem of intelligent vehicle lateral tracking control under complex working conditions. Firstly, the vehicle dynamics tracking error model is built by using the two degree of freedom vehicle dynamics model, then the feedforward controller, predictive controller and LQR controller are designed separately based on the path tracking error model, and the lateral control system is built. Secondly, based on the YOLO-v3 algorithm, the environment perception system under the urban roads is established, and the road information is collected, the path equation is fitted and sent to the control system. Finally, the joint simulation is carried out based on CarSim software and a Matlab/Simulink control model, and tested combined with hardware in the loop test platform. The results of simulation and hardware-in-loop test show that the transverse controller with feedforward + predictive LQR can effectively improve the accuracy of distance error control and course error control compared with the transverse controller with feedforward + LQR control, LQR controller and MPC controller on the premise that the vehicle can track the path in real time.
Journal Article
A hierarchical lateral stability control strategy of distributed drive electric vehicles based on extended Kalman filter and integral terminal sliding mode control
This paper proposes a hierarchical control strategy to enhance the lateral stability of distributed drive electric vehicles. In the upper layer, the extended kalman filter (EKF) is employed for real-time estimation of critical vehicle states, including the sideslip angle and yaw rate. In the intermediate layer, a direct yaw-moment control (DYC) system based on integral terminal sliding mode control (ITSMC) is designed, which utilizes the deviation between the EKF-estimated states and their desired values to calculate the required additional yaw moment for stability compensation. In the lower layer, an optimal control–based torque allocation strategy is adopted to distribute the driving torque among the four in-wheel motors. Unlike many existing direct yaw moment control strategies that assume ideal state availability or suffer from control chattering and limited wheel-level realizability, this study explicitly addresses the coupled problem of state estimation uncertainty, robust yaw-moment generation, and practical torque realization under nonlinear tire dynamics. Simulation results demonstrate that the proposed EKF-based state estimation achieves high accuracy, while the ITSMC-DYC controller significantly improves lateral stability, trajectory tracking capability, and driving safety. Furthermore, hardware-in-the-loop (HIL) tests validate the effectiveness of the hierarchical control strategy under realistic scenarios, confirming its potential for practical applications.
Journal Article
Control of Vehicle Lateral Handling Stability Considering Time-Varying Full-State Constraints
Lateral handling stability control is crucial for ensuring vehicle driving safety. To address this issue, this paper proposes a lateral handling stability control method that considers time-varying full-state constraints. By constructing a time-varying symmetric Barrier Lyapunov Function (TS-BLF), this method imposes time-varying nonlinear constraints on both the sideslip angle and yaw rate, thereby ensuring full-state constrained stability control of vehicles under complex operating conditions. Additionally, a second-order command filtering technique with an error compensation mechanism is introduced to reduce the computational complexity of control laws while mitigating filter-induced errors that may degrade system performance. To validate the effectiveness and robustness of the proposed method, the vehicle’s dynamic response is analyzed under different speeds on both dry asphalt pavement and dry gravel surfaces. The simulation results demonstrate that the proposed method effectively suppresses understeer and oversteer, enhances the dynamic stability margin under extreme operating conditions, and improves vehicle adaptability in complex environments.
Journal Article
Research and Application of Panoramic Data Visualization Platform for Stability Control Equipment Based on the Whole Life Cycle
In recent years, with the mass access of new energy such as UHV commissioning projects and photovoltaic wind, the problems in safely and stably operating regional power grid are becoming more and more prominent. Mass power grid stability control system and equipment play a significant role in this aspect. However, there are a great variety of manufacturers and models of the stability control systems and equipment, as well as configuration schemes for the operation strategy and fixed value of the primary equipment. Due to insufficient technological support, it is relatively inconvenient to manage the information and data of stability and control system on the whole process from feasibility research, initial test, factory debugging, site debugging, commissioning acceptance, protection verification, daily operation and maintenance management to the decommission of the system, thus failing to achieve the objective of classified management according to the relevant requirements, nor to modify and improve in time. Based on the management requirements and status quo of the stability and control equipment, a technical research on the panoramic data visualization platform for the stability control equipment with full life-cycle information covering the feasibility research, release, debugging, commissioning, verification, operation, decommission and so on of the equipment, which is available for the panoramic informationized and digital management of the stability control equipment, so as to realize the whole life cycle and systematic closed-loop management of the stability control system and the equipment.
Journal Article
A robust MPC-based vehicle stability control strategy for four-wheel independent drive electric vehicles considering IGBT thermal effect
When the four-wheel independent drive electric vehicle (4WIDEV) operates continuously under high-load conditions, the temperature of the insulated-gate bipolar transistor (IGBT) module will rapidly rise, making it susceptible to triggering the predesigned thermal protection strategy (TPS). This will cause a sudden drop in corresponding motor output torque, leading to a reduction in vehicle power performance and potentially causing instability. To solve this problem, a robust model predictive control (MPC)-based vehicle stability control strategy for 4WIDEV considering IGBT thermal effect is proposed. Firstly, a control-oriented IGBT thermal model is established to represent the electro-thermal effects of the IGBT module. A test bench is built to verify the IGBT thermal model and obtain the boundaries of uncertain parameters in this model. Secondly, considering uncertain parameters with known boundaries, a linear parameter varying (LPV) discrete system model is established, composed of the IGBT thermal model and vehicle dynamics model. Then a robust MPC-based vehicle stability controller is proposed. IGBT temperature constraints are constructed to keep the temperature below the threshold, considering parameter uncertainties. Additionally, three constraints are established to satisfy the stability conditions and robustness requirements of the 4WIDEV. Finally, the proposed control strategy is verified by hardware-in-the-loop (HIL) experiments. The simulation results under scenarios where IGBT temperatures are approaching the threshold demonstrate that the proposed strategy improves tracking performance for velocity and yaw rate by 54.7% and 87.2%, respectively, compared to the existing method, while effectively avoiding triggering the TPS.
Journal Article