Stability of two-inertia system using non-linear controller: application to drive-control system of electric vehicle

Mubin, M. and Ouchi, S. and Kodani, N. and Mokhtar, N. and Soin, N. (2008) Stability of two-inertia system using non-linear controller: application to drive-control system of electric vehicle. In: 13th International Symposium on Artificial Life and Robotics, AROB 13th'08, 2008, Oita.

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Abstract

The drive-control system of a vehicle is considered as two-inertia system that is the wheel system and the carbody system. This paper firstly presents the stabilization of two-inertia system using a non-linear controller and a disturbance observer. This control system is then applied to a drive-control system of a vehicle with a disturbance observer for estimating the car-body speed. A Lyapunov stability theorem is followed to confirm the stability of the system. The effectiveness of this control system is proved by a satisfactory experimental results. ©ISAROB 2008.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Conference code: 82300 Export Date: 28 January 2013 Source: Scopus Language of Original Document: English Correspondence Address: Mubin, M.; Department of Electrical Engineering, University of Malaya, 50603 Kuala Lumpur, Malaysia; email: marizan@um.edu.my References: Ouchi, S., Yano, K., Control of Oscillating Multi-mass system with Gear Backlash by Digital Observer (1990) T. IEE Japan, 110 D (4), pp. 410-417. , In Japanese; O'Reilly, J., Minimal Order Observer for Linear Multivariable Systems Disturbances (1978) Int. J. Control, 28, pp. 743-751; Mubin, M., Moroda, K., Ouchi, S., Anabuki, M., Model Following Sliding Mode Control of Automobiles Using a Disturbance Observer (2003) Proceeding of SICE Annual Conference, pp. 1384-1389; Unsal, C., Kachroo, P., Sliding Mode Measurement Feedback Control for Antilock Braking Systems (1999) IEEE Trans. Of Control System Tech., 7 (2), pp. 271-281; Sado, H., Sakai, S., Hori, Y., Road Condition Estimation for Traction Control in Electric Vehicle (1999) IEEE International Symposium on Industrial Electronics, pp. 973-978 Sponsors: Mitsubishi Electric Corporation Advanced Technology R and D Cent.; Oita Gas Co., Ltd.; ME System Co., Ltd.; Sanwa Shurui Co., Ltd.
Uncontrolled Keywords: Automatic braking system, Disturbance observer, Lyapunov function, Traction control, Braking system, Carbody, Lyapunov stability theorem, Non-linear controllers, Two-inertia system, Wheel system, Automobiles, Brakes, Braking, Controllers, Differential equations, Electric vehicles, Linear control systems, Lyapunov functions, Observability, Robotics, System stability, Traction (friction), Control system stability.
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering
Depositing User: Mr Jenal S
Date Deposited: 22 May 2013 00:22
Last Modified: 22 May 2013 00:22
URI: http://eprints.um.edu.my/id/eprint/6152

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