Observer-Based Nonlinear Control Scheme to Reduce Oscillations and Zero Crossing in Skid-Steer Vehicles
Motion sickness is a common condition experienced by drivers of skid-steer vehicles, primarily caused by zero crossing and oscillations in undamped systems. This study proposes an observer-based nonlinear control scheme to reduce transient oscillations and zero-crossing phenomena in skid-steer vehic...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/11126065/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849223104260210688 |
|---|---|
| author | Jiwon Seo Kwankyun Byeon Hojin Lee Yunhyoung Hwang Yonghao Gui Wonhee Kim |
| author_facet | Jiwon Seo Kwankyun Byeon Hojin Lee Yunhyoung Hwang Yonghao Gui Wonhee Kim |
| author_sort | Jiwon Seo |
| collection | DOAJ |
| description | Motion sickness is a common condition experienced by drivers of skid-steer vehicles, primarily caused by zero crossing and oscillations in undamped systems. This study proposes an observer-based nonlinear control scheme to reduce transient oscillations and zero-crossing phenomena in skid-steer vehicles, thereby potentially alleviating motion sickness. Reducing transient oscillations and zero crossing in the transient response may alleviate motion sickness. A nonlinear damping controller is designed to improve transient response by reducing oscillations and zero-crossing. To design the controller, a reduced-order kinematic model based on coordinate transformation is developed. This transformation not only converts the system modeling into a controllable form but also enhances control performance. Modeling error is addressed by considering the distance between the center of the vehicle and the sensor location. Despite these improvements, model uncertainties and external disturbances remain, which may degrade control performance. To ensure robustness and estimate such disturbances, a high-order sliding mode observer (HOSMO) is incorporated. The effectiveness of the proposed method is validated through MATLAB/Simulink and TruckMaker simulations. From the simulation results, it was shown that the proposed method reduced the mean squared error of the tracking error to within 10% compared to the state feedback controller with the HOSMO. |
| format | Article |
| id | doaj-art-b729f3d3df664f4f8a5f124c8c47e437 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-b729f3d3df664f4f8a5f124c8c47e4372025-08-25T23:18:41ZengIEEEIEEE Access2169-35362025-01-011314485114486210.1109/ACCESS.2025.359935311126065Observer-Based Nonlinear Control Scheme to Reduce Oscillations and Zero Crossing in Skid-Steer VehiclesJiwon Seo0Kwankyun Byeon1https://orcid.org/0009-0005-6444-2216Hojin Lee2https://orcid.org/0009-0005-2998-2006Yunhyoung Hwang3https://orcid.org/0000-0003-0533-2031Yonghao Gui4https://orcid.org/0000-0002-5043-5534Wonhee Kim5https://orcid.org/0000-0001-9893-6381Department of Energy Systems Engineering, Chung-Ang University, Seoul, Republic of KoreaDepartment of Energy Systems Engineering, Chung-Ang University, Seoul, Republic of KoreaDepartment of Energy Systems Engineering, Chung-Ang University, Seoul, Republic of KoreaDepartment of Mechanical Engineering, Jeonbuk National University, Jeonju, Jeollabuk-do, Republic of KoreaElectrification and Energy Infrastructures Division, Oak Ridge National Laboratory, Knoxville, TN, USASchool of Energy Systems Engineering, Chung-Ang University, Seoul, Republic of KoreaMotion sickness is a common condition experienced by drivers of skid-steer vehicles, primarily caused by zero crossing and oscillations in undamped systems. This study proposes an observer-based nonlinear control scheme to reduce transient oscillations and zero-crossing phenomena in skid-steer vehicles, thereby potentially alleviating motion sickness. Reducing transient oscillations and zero crossing in the transient response may alleviate motion sickness. A nonlinear damping controller is designed to improve transient response by reducing oscillations and zero-crossing. To design the controller, a reduced-order kinematic model based on coordinate transformation is developed. This transformation not only converts the system modeling into a controllable form but also enhances control performance. Modeling error is addressed by considering the distance between the center of the vehicle and the sensor location. Despite these improvements, model uncertainties and external disturbances remain, which may degrade control performance. To ensure robustness and estimate such disturbances, a high-order sliding mode observer (HOSMO) is incorporated. The effectiveness of the proposed method is validated through MATLAB/Simulink and TruckMaker simulations. From the simulation results, it was shown that the proposed method reduced the mean squared error of the tracking error to within 10% compared to the state feedback controller with the HOSMO.https://ieeexplore.ieee.org/document/11126065/Skid-steer vehiclesnonlinear damping controlhigh-order sliding mode observermotion sicknessoscillationszero crossing |
| spellingShingle | Jiwon Seo Kwankyun Byeon Hojin Lee Yunhyoung Hwang Yonghao Gui Wonhee Kim Observer-Based Nonlinear Control Scheme to Reduce Oscillations and Zero Crossing in Skid-Steer Vehicles IEEE Access Skid-steer vehicles nonlinear damping control high-order sliding mode observer motion sickness oscillations zero crossing |
| title | Observer-Based Nonlinear Control Scheme to Reduce Oscillations and Zero Crossing in Skid-Steer Vehicles |
| title_full | Observer-Based Nonlinear Control Scheme to Reduce Oscillations and Zero Crossing in Skid-Steer Vehicles |
| title_fullStr | Observer-Based Nonlinear Control Scheme to Reduce Oscillations and Zero Crossing in Skid-Steer Vehicles |
| title_full_unstemmed | Observer-Based Nonlinear Control Scheme to Reduce Oscillations and Zero Crossing in Skid-Steer Vehicles |
| title_short | Observer-Based Nonlinear Control Scheme to Reduce Oscillations and Zero Crossing in Skid-Steer Vehicles |
| title_sort | observer based nonlinear control scheme to reduce oscillations and zero crossing in skid steer vehicles |
| topic | Skid-steer vehicles nonlinear damping control high-order sliding mode observer motion sickness oscillations zero crossing |
| url | https://ieeexplore.ieee.org/document/11126065/ |
| work_keys_str_mv | AT jiwonseo observerbasednonlinearcontrolschemetoreduceoscillationsandzerocrossinginskidsteervehicles AT kwankyunbyeon observerbasednonlinearcontrolschemetoreduceoscillationsandzerocrossinginskidsteervehicles AT hojinlee observerbasednonlinearcontrolschemetoreduceoscillationsandzerocrossinginskidsteervehicles AT yunhyounghwang observerbasednonlinearcontrolschemetoreduceoscillationsandzerocrossinginskidsteervehicles AT yonghaogui observerbasednonlinearcontrolschemetoreduceoscillationsandzerocrossinginskidsteervehicles AT wonheekim observerbasednonlinearcontrolschemetoreduceoscillationsandzerocrossinginskidsteervehicles |