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Adaptive neural control of vehicle yaw stability with active front steering using an improved random projection neural network
Huang,Wei1,2; Wong,Pak Kin1; Wong,Ka In3; Vong,Chi Man4; Zhao,Jing1,2
2021
Source PublicationVehicle System Dynamics
ISSN0042-3114
Volume59Issue:3Pages:396-414
AbstractActive front steering (AFS) can enhance the vehicle yaw stability. However, the control of vehicle yaw rate is very challenging due to (1) the unmodelled nonlinearity and uncertainties in vehicle dynamics; (2) timely response in control scheme. These two issues can be simultaneously alleviated through a random projection neural network (RPNN) for its high model generalisation and fast computational speed. However, typical RPNN cannot be directly applied to adaptive control applications. Therefore, a new RPNN-based adaptive neural control method is proposed, which is equipped with a newly designed adaptation law based on the theorem of Lyapunov stability. To test the performance of the proposed control method, simulations were carried out using a validated vehicle model. The simulation results show that, compared to conventional backpropagation neural network (BPNN) based controller, the proposed RPNN-based adaptive controller can reduce the response time and attenuate oscillatory steering in the case of cornering manoeuvre under fast variant vehicle speed. The results also demonstrate that the proposed RPNN-based adaptive controller outperforms the state-of-the-art fuzzy logic controller and the error feedback controller in multiple aspects including tracking nominal vehicle yaw rate, desired sideslip angle and intended path, showing its significance in vehicle yaw stability control.
KeywordActive front steering adaptive neural control lateral stability random projection neural network yaw rate control
DOI10.1080/00423114.2019.1690152
URLView the original
Language英语
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Cited Times [WOS]:3   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorWong,Pak Kin
Affiliation1.Department of Electromechanical Engineering,University of Macau,Taipa,China
2.Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing,South China University of Technology,Guangzhou,China
3.Institute for the Development and Quality,Taipa,China
4.Department of Computer and Information Science,University of Macau,Taipa,China
First Author AffilicationUniversity of Macau
Corresponding Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Huang,Wei,Wong,Pak Kin,Wong,Ka In,et al. Adaptive neural control of vehicle yaw stability with active front steering using an improved random projection neural network[J]. Vehicle System Dynamics,2021,59(3):396-414.
APA Huang,Wei,Wong,Pak Kin,Wong,Ka In,Vong,Chi Man,&Zhao,Jing.(2021).Adaptive neural control of vehicle yaw stability with active front steering using an improved random projection neural network.Vehicle System Dynamics,59(3),396-414.
MLA Huang,Wei,et al."Adaptive neural control of vehicle yaw stability with active front steering using an improved random projection neural network".Vehicle System Dynamics 59.3(2021):396-414.
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