M. Aripin - Academia.edu (original) (raw)

Papers by M. Aripin

Jurnal Teknologi

In this paper, Robust Composite Nonlinear Feedback (CNF) was implemented on Active Front Steering... more In this paper, Robust Composite Nonlinear Feedback (CNF) was implemented on Active Front Steering (AFS) vehicle system for yaw stability control. In this control system, the main objective is to get excellent transient response of vehicle yaw rate and at the same time resist to side wind disturbance. To cater unknown constant disturbance, non-integral function for Robust CNF version is used. Meanwhile for vehicle model, 7 degree of freedom vehicle body with Pacejka Tire formula model for typical passenger car is used to simulate controlled vehicle. The computer simulation by Matlab software is performed to evaluate the system performance in J-Turn and Single sine steer with magnitude from 1 to 3.1 degree with additional 400 Nm external side wind disturbance. By using typical Proportional Integration and Derivative (PID) control auto-tuned by Matlab as comparison, the new designed controller demonstrates higher capability to track reference signal faster and having minimal tracking e...

2015 10th Asian Control Conference (ASCC), 2015

Communications in Computer and Information Science, 2014

A ride quality test for active suspension system is real significant in modern automotive suspens... more A ride quality test for active suspension system is real significant in modern automotive suspension control performance validation for ride comfort evaluation. The Composite Nonlinear Feedback (CNF) controller is proposed as a control strategy to reduce the high overshoot on the transient response and fast settling time. The mathematical modeling of a MacPherson quarter car suspension is utilized in this paper. A chassis twists road procedure in ride quality test has been applied. The multi-body dynamics system software so-called CarSim is used for validation. The strength of the proposed control scheme is shown by numerical experiment results and numerical simulation results.

Communications in Computer and Information Science, 2013

In this paper, the composite nonlinear feedback (CNF) technique is applied for yaw tracking contr... more In this paper, the composite nonlinear feedback (CNF) technique is applied for yaw tracking control of active front steering system with the objectives to improve the transient performance of yaw rate response. For lateral and yaw dynamics analysis, nonlinear and linear vehicle models are utilized as actual vehicle plant and for controller design respectively. The designed controller is evaluated using J-turn cornering manoeuvre condition in computer simulation. The simulation results demonstrate that the application of CNF for yaw rate tracking control improves the yaw stability and vehicle handling performances.

International Journal of Vehicular Technology, 2014

Yaw stability control system plays a significant role in vehicle lateral dynamics in order to imp... more Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies with the focus on identifying suitable criteria for improved transient performances. Each element is discussed and compared in terms of their underlying theory, strengths, weaknesses, and applicability. Based on this, we conclude that the sliding mode control with nonlinear sliding surface based on composite nonlinear feedback is a potential control strategy for improving the transient performances of yaw rate and sideslip tracking control.

Jurnal Teknologi, 2015

The purpose of controlling the vehicle handling is to ensure that the vehicle is in a safe condit... more The purpose of controlling the vehicle handling is to ensure that the vehicle is in a safe condition and following its desire path. Vehicle yaw rate is controlled in order to achieve a good vehicle handling. In this paper, the optimal Composite Nonlinear Feedback (CNF) control technique is proposed for an Active Front Steering (AFS) system for improving the vehicle yaw rate response. The model used in order to validate the performance of controller is nonlinear vehicle model with 7 degree-of-freedom (DOF) and a bicycle model is implemented for the purpose of designing the controller. In designing an optimal CNF controller, the parameter estimation of linear and nonlinear gain becomes very important to produce the best output response. An intelligent algorithm is designed to minimize the time consumed to get the best parameter. To design an optimal method, Multi Objective Particle Swarm Optimization (MOPSO) is utilized to optimize the CNF controller performance. As a result, transient performance of the yaw rate has improved with the increased speed of in tracking and searching of the best optimized parameter estimation for the linear and the nonlinear gain of CNF controller.

2013 International Conference on Electrical, Electronics and System Engineering (ICEESE), 2013

2012 IEEE 8th International Colloquium on Signal Processing and its Applications, 2012

This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle.... more This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle. A mathematical model of a quarter vehicle undergoing a straight-line braking maneuver is used as the control model. Second order sliding mode (SOSM) control approach using super-twisting technique is proposed to manipulate the braking torque to control the wheel slip. The effectiveness of the SOSM is compared to the conventional sliding mode in the simulations of emergency straight line braking in Simulink. With the SOSM, the chattering phenomenon is eliminated, giving a smooth tracking trajectory and lower slip error and control effort.

2012 IEEE 8th International Colloquium on Signal Processing and its Applications, 2012

Active steering control is one of the approach that can be used to improve the vehicle's lateral ... more Active steering control is one of the approach that can be used to improve the vehicle's lateral and yaw stability. By combining active front steering and active rear steering control, the vehicle's handling and stability can be improved via four wheel active steering (4WAS) control. In this paper, a robust control algorithm of sliding mode control is designed for 4WAS vehicle. Single track 2 d.o.f linear model is utilized for controller design and simulation purpose. Simulation for 4WAS and front steering (AFS) is carried out in Simulink for step steer and double lane change maneuver to verify the effectiveness of the proposed control system. The result shows that the 4WAS perform better than the AFS in tracking the desired response trajectory.

Jurnal Teknologi, 2014

This paper describes the mathematical modeling and control of a nonlinear active suspension syste... more This paper describes the mathematical modeling and control of a nonlinear active suspension system for ride comfort and road handling performance by using multi-body dynamics software so-called CarSim. For ride quality and road handling tests the integration between MATLAB/Simulink and multi-body dynamics system software is proposed. The control algorithm called the Conventional Composite Nonlinear Feedback (CCNF) control was introduced to achieve the best transient response that can reduce to overshoot on the sprung mass and angular of control arm of MacPherson active suspension system. The numerical experimental results show the control performance of CCNF comparing with Linear Quadratic Regulator (LQR) and passive system.

2012 IEEE International Conference on Control System, Computing and Engineering, 2012

The vehicle handling and stability in emergency situation can be enhanced with direct yaw moment ... more The vehicle handling and stability in emergency situation can be enhanced with direct yaw moment control (DYC). In this paper, a new controller using super twisting technique based on second order sliding mode control (SOSM) is proposed for the yaw moment control. The controller is designed based on two degree of freedom (2DOF) nonlinear model. The effectiveness of the proposed controller is compared to PI controller and conventional sliding mode controller by cosimulations in CarSim and Matlab/Simulink. The results show that the SOSM give better performance in tracking the desired response necessary for the vehicle handling and stability. In addition, the chattering phenomenon is also reduced, giving a smooth tracking trajectory.

2013 9th Asian Control Conference (ASCC), 2013

The vehicle handling and stability can be enhanced with direct yaw moment control (DYC). In this ... more The vehicle handling and stability can be enhanced with direct yaw moment control (DYC). In this paper, a sliding mode controller (SMC) with genetic algorithm optimization is proposed for the yaw moment control. A single track vehicle model with nonlinear tire forces is utilized for the controller design. The effectiveness of the proposed controller is compared to conventional sliding mode controller by co-simulations in CarSim and Matlab/Simulink. The simulation results of a step steer maneuvers shows that the proposed controller give better performance in tracking the desired yaw rate and control other necessary response for the vehicle handling and stability. In addition, the chattering phenomenon is also reduced, giving a smooth tracking trajectory.

In this paper, Composite Nonlinear Feedback (CNF) is applied on Active Front Steering (AFS) syste... more In this paper, Composite Nonlinear Feedback (CNF) is applied on Active Front Steering (AFS) system for vehicle yaw stability control in order to have an excellent transient response performance. The control method, which has linear and nonlinear parts that work concurrently capable to track reference signal very fast with minimum overshoot, fast settling time, and without exceed nature of actuator saturation limit. Beside, modelling of 7 degree of freedom for typical passenger car with magic formula to represent tyre nonlinearity behaviour is also presented to simulate controlled vehicle as close as possible with a real situation. An extensive computer simulation is performed with considering a various profile of cornering manoeuvres with external disturbance to evaluate its performance in different scenarios. The performance of the proposed controller is compared to conventional Proportional Integration and Derivative (PID) for effectiveness analysis.

Jurnal Teknologi

In this paper, Robust Composite Nonlinear Feedback (CNF) was implemented on Active Front Steering... more In this paper, Robust Composite Nonlinear Feedback (CNF) was implemented on Active Front Steering (AFS) vehicle system for yaw stability control. In this control system, the main objective is to get excellent transient response of vehicle yaw rate and at the same time resist to side wind disturbance. To cater unknown constant disturbance, non-integral function for Robust CNF version is used. Meanwhile for vehicle model, 7 degree of freedom vehicle body with Pacejka Tire formula model for typical passenger car is used to simulate controlled vehicle. The computer simulation by Matlab software is performed to evaluate the system performance in J-Turn and Single sine steer with magnitude from 1 to 3.1 degree with additional 400 Nm external side wind disturbance. By using typical Proportional Integration and Derivative (PID) control auto-tuned by Matlab as comparison, the new designed controller demonstrates higher capability to track reference signal faster and having minimal tracking e...

2015 10th Asian Control Conference (ASCC), 2015

Communications in Computer and Information Science, 2014

A ride quality test for active suspension system is real significant in modern automotive suspens... more A ride quality test for active suspension system is real significant in modern automotive suspension control performance validation for ride comfort evaluation. The Composite Nonlinear Feedback (CNF) controller is proposed as a control strategy to reduce the high overshoot on the transient response and fast settling time. The mathematical modeling of a MacPherson quarter car suspension is utilized in this paper. A chassis twists road procedure in ride quality test has been applied. The multi-body dynamics system software so-called CarSim is used for validation. The strength of the proposed control scheme is shown by numerical experiment results and numerical simulation results.

Communications in Computer and Information Science, 2013

In this paper, the composite nonlinear feedback (CNF) technique is applied for yaw tracking contr... more In this paper, the composite nonlinear feedback (CNF) technique is applied for yaw tracking control of active front steering system with the objectives to improve the transient performance of yaw rate response. For lateral and yaw dynamics analysis, nonlinear and linear vehicle models are utilized as actual vehicle plant and for controller design respectively. The designed controller is evaluated using J-turn cornering manoeuvre condition in computer simulation. The simulation results demonstrate that the application of CNF for yaw rate tracking control improves the yaw stability and vehicle handling performances.

International Journal of Vehicular Technology, 2014

Yaw stability control system plays a significant role in vehicle lateral dynamics in order to imp... more Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies with the focus on identifying suitable criteria for improved transient performances. Each element is discussed and compared in terms of their underlying theory, strengths, weaknesses, and applicability. Based on this, we conclude that the sliding mode control with nonlinear sliding surface based on composite nonlinear feedback is a potential control strategy for improving the transient performances of yaw rate and sideslip tracking control.

Jurnal Teknologi, 2015

The purpose of controlling the vehicle handling is to ensure that the vehicle is in a safe condit... more The purpose of controlling the vehicle handling is to ensure that the vehicle is in a safe condition and following its desire path. Vehicle yaw rate is controlled in order to achieve a good vehicle handling. In this paper, the optimal Composite Nonlinear Feedback (CNF) control technique is proposed for an Active Front Steering (AFS) system for improving the vehicle yaw rate response. The model used in order to validate the performance of controller is nonlinear vehicle model with 7 degree-of-freedom (DOF) and a bicycle model is implemented for the purpose of designing the controller. In designing an optimal CNF controller, the parameter estimation of linear and nonlinear gain becomes very important to produce the best output response. An intelligent algorithm is designed to minimize the time consumed to get the best parameter. To design an optimal method, Multi Objective Particle Swarm Optimization (MOPSO) is utilized to optimize the CNF controller performance. As a result, transient performance of the yaw rate has improved with the increased speed of in tracking and searching of the best optimized parameter estimation for the linear and the nonlinear gain of CNF controller.

2013 International Conference on Electrical, Electronics and System Engineering (ICEESE), 2013

2012 IEEE 8th International Colloquium on Signal Processing and its Applications, 2012

This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle.... more This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle. A mathematical model of a quarter vehicle undergoing a straight-line braking maneuver is used as the control model. Second order sliding mode (SOSM) control approach using super-twisting technique is proposed to manipulate the braking torque to control the wheel slip. The effectiveness of the SOSM is compared to the conventional sliding mode in the simulations of emergency straight line braking in Simulink. With the SOSM, the chattering phenomenon is eliminated, giving a smooth tracking trajectory and lower slip error and control effort.

2012 IEEE 8th International Colloquium on Signal Processing and its Applications, 2012

Active steering control is one of the approach that can be used to improve the vehicle's lateral ... more Active steering control is one of the approach that can be used to improve the vehicle's lateral and yaw stability. By combining active front steering and active rear steering control, the vehicle's handling and stability can be improved via four wheel active steering (4WAS) control. In this paper, a robust control algorithm of sliding mode control is designed for 4WAS vehicle. Single track 2 d.o.f linear model is utilized for controller design and simulation purpose. Simulation for 4WAS and front steering (AFS) is carried out in Simulink for step steer and double lane change maneuver to verify the effectiveness of the proposed control system. The result shows that the 4WAS perform better than the AFS in tracking the desired response trajectory.

Jurnal Teknologi, 2014

This paper describes the mathematical modeling and control of a nonlinear active suspension syste... more This paper describes the mathematical modeling and control of a nonlinear active suspension system for ride comfort and road handling performance by using multi-body dynamics software so-called CarSim. For ride quality and road handling tests the integration between MATLAB/Simulink and multi-body dynamics system software is proposed. The control algorithm called the Conventional Composite Nonlinear Feedback (CCNF) control was introduced to achieve the best transient response that can reduce to overshoot on the sprung mass and angular of control arm of MacPherson active suspension system. The numerical experimental results show the control performance of CCNF comparing with Linear Quadratic Regulator (LQR) and passive system.

2012 IEEE International Conference on Control System, Computing and Engineering, 2012

The vehicle handling and stability in emergency situation can be enhanced with direct yaw moment ... more The vehicle handling and stability in emergency situation can be enhanced with direct yaw moment control (DYC). In this paper, a new controller using super twisting technique based on second order sliding mode control (SOSM) is proposed for the yaw moment control. The controller is designed based on two degree of freedom (2DOF) nonlinear model. The effectiveness of the proposed controller is compared to PI controller and conventional sliding mode controller by cosimulations in CarSim and Matlab/Simulink. The results show that the SOSM give better performance in tracking the desired response necessary for the vehicle handling and stability. In addition, the chattering phenomenon is also reduced, giving a smooth tracking trajectory.

2013 9th Asian Control Conference (ASCC), 2013

The vehicle handling and stability can be enhanced with direct yaw moment control (DYC). In this ... more The vehicle handling and stability can be enhanced with direct yaw moment control (DYC). In this paper, a sliding mode controller (SMC) with genetic algorithm optimization is proposed for the yaw moment control. A single track vehicle model with nonlinear tire forces is utilized for the controller design. The effectiveness of the proposed controller is compared to conventional sliding mode controller by co-simulations in CarSim and Matlab/Simulink. The simulation results of a step steer maneuvers shows that the proposed controller give better performance in tracking the desired yaw rate and control other necessary response for the vehicle handling and stability. In addition, the chattering phenomenon is also reduced, giving a smooth tracking trajectory.

In this paper, Composite Nonlinear Feedback (CNF) is applied on Active Front Steering (AFS) syste... more In this paper, Composite Nonlinear Feedback (CNF) is applied on Active Front Steering (AFS) system for vehicle yaw stability control in order to have an excellent transient response performance. The control method, which has linear and nonlinear parts that work concurrently capable to track reference signal very fast with minimum overshoot, fast settling time, and without exceed nature of actuator saturation limit. Beside, modelling of 7 degree of freedom for typical passenger car with magic formula to represent tyre nonlinearity behaviour is also presented to simulate controlled vehicle as close as possible with a real situation. An extensive computer simulation is performed with considering a various profile of cornering manoeuvres with external disturbance to evaluate its performance in different scenarios. The performance of the proposed controller is compared to conventional Proportional Integration and Derivative (PID) for effectiveness analysis.